From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com>
Date: Wed, 21 Jan 2026 00:51:39 +0000 (-0800)
Subject: a
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=69e31f17e1a47520c5bcc24bf0d27eff2ec0653c;p=FRC2026.git

a
---

diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
index af0afb8..1a8b8e0 100644
--- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
+++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
@@ -65,8 +65,16 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig {
             interrupted->getDrivetrain().setStateDeadband(true),
             ()->false, getDrivetrain()).withTimeout(2));
 
-        driver.get(PS5Button.CIRCLE).onTrue(new InstantCommand(() -> shooter.setFeeder(ShooterConstants.FEEDER_RUN_POWER))).onFalse(new InstantCommand(() -> shooter.setFeeder(0)));
-        driver.get(PS5Button.TRIANGLE).onTrue(new InstantCommand(() -> shooter.setShooter(ShooterConstants.SHOOTER_VELOCITY))).onFalse(new InstantCommand(() -> shooter.setShooter(0)));
+        driver.get(PS5Button.LB).onTrue(
+            new InstantCommand(() -> {
+                shooter.setFeeder(ShooterConstants.FEEDER_RUN_POWER);
+                shooter.setShooter(ShooterConstants.SHOOTER_VELOCITY);
+            })).onFalse(
+                new InstantCommand(() -> {
+                        shooter.setFeeder(0);
+                        shooter.setShooter(0);
+                    }));
+        //driver.get(PS5Button.TRIANGLE).onTrue(new InstantCommand(() -> shooter.setShooter(ShooterConstants.SHOOTER_VELOCITY))).onFalse(new InstantCommand(() -> shooter.setShooter(0)));
         
         driver.get(PS5Button.SQUARE).onTrue(
             new InstantCommand(()->{
diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
index 4ff2379..1b5919e 100644
--- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -29,8 +29,8 @@ import frc.robot.constants.IdConstants;
 
 public class Shooter  {
     
-    private TalonFX shooterMotorLeft = new TalonFX(IdConstants.SHOOTER_LEFT_ID, Constants.SUBSYSTEM_CANIVORE_CAN);
-    private TalonFX shooterMotorRight = new TalonFX(IdConstants.SHOOTER_RIGHT_ID, Constants.SUBSYSTEM_CANIVORE_CAN);
+    private TalonFX shooterMotorLeft = new TalonFX(IdConstants.SHOOTER_LEFT_ID, Constants.RIO_CAN);
+    private TalonFX shooterMotorRight = new TalonFX(IdConstants.SHOOTER_RIGHT_ID, Constants.RIO_CAN);
 
     private TalonFX feederMotor = new TalonFX(IdConstants.FEEDER_ID, Constants.RIO_CAN);