From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com>
Date: Sat, 14 Feb 2026 21:48:37 +0000 (-0800)
Subject: a
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=6a62b049d00e88c6cccc08aae3875b806eae5f87;p=FRC2026.git

a
---

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 6dbc065..10600ef 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -86,7 +86,7 @@ public class RobotContainer {
 
       case WaffleHouse: // AKA Betabot
         turret = new Turret();
-        //shooter = new Shooter();
+        shooter = new Shooter();
         //hood = new Hood();
 
       case SwerveCompetition: // AKA "Vantage"
diff --git a/src/main/java/frc/robot/commands/gpm/AutoShootCommand.java b/src/main/java/frc/robot/commands/gpm/AutoShootCommand.java
index 89507cd..4f1ce7c 100644
--- a/src/main/java/frc/robot/commands/gpm/AutoShootCommand.java
+++ b/src/main/java/frc/robot/commands/gpm/AutoShootCommand.java
@@ -181,7 +181,7 @@ public class AutoShootCommand extends Command {
         lastHoodAngle = hoodAngle;
 
         if (Math.abs(lastTurretAngle.getDegrees() - turretSetpoint) > 90) {
-            velocityAdjustment = -drivetrain.getAngularRate(2) * 1.4;
+            velocityAdjustment = -drivetrain.getAngularRate(2) * 1.0;
         }
     }
 
@@ -207,7 +207,7 @@ public class AutoShootCommand extends Command {
 
         turret.setFieldRelativeTarget(new Rotation2d(Units.degreesToRadians(turretSetpoint)), turretVelocity - drivetrain.getAngularRate(2));
         //hood.setFieldRelativeTarget(new Rotation2d(Units.degreesToRadians(hoodSetpoint)), hoodVelocity);
-        //shooter.setShooter(goalState.exitVel());
+        shooter.setShooter(goalState.exitVel());
 
         SmartDashboard.putNumber("Turret Calculated Setpoint", turretSetpoint);
         SmartDashboard.putNumber("Hood Calculate Setpoint", hoodSetpoint);
@@ -224,7 +224,7 @@ public class AutoShootCommand extends Command {
     public void end(boolean interrupted) {
         // Set the turret to a safe position when the command ends
         turret.setFieldRelativeTarget(new Rotation2d(0.0), 0.0);
-        //shooter.setShooter(0.0);
+        shooter.setShooter(0.0);
         //hood.setFieldRelativeTarget(new Rotation2d(Units.degreesToRadians(HoodConstants.MAX_ANGLE)), 0.0);
         if(spindexer != null){
             spindexer.stopSpindexer();
diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
index af372ff..e5709bb 100644
--- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -1,4 +1,4 @@
-package frc.robot.subsystems.Shooter;
+package frc.robot.subsystems.shooter;
 
 import org.littletonrobotics.junction.AutoLogOutput;
 import org.littletonrobotics.junction.Logger;
@@ -19,6 +19,7 @@ import au.grapplerobotics.interfaces.LaserCanInterface.TimingBudget;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.constants.Constants;
 import frc.robot.constants.IdConstants;
@@ -62,16 +63,20 @@ public class Shooter extends SubsystemBase implements ShooterIO {
         shooterMotorRight.getConfigurator().apply(
             new MotorOutputConfigs().withNeutralMode(NeutralModeValue.Coast)
         );
+
+        SmartDashboard.putData("Turn on shooter", new InstantCommand(()-> setShooter(20.0)));
     }
 
     @Override
     public void periodic(){
+        shooterMotorRight.set(1.0);
+        shooterMotorLeft.set(1.0);
         updateInputs();
 
         powerModifier = SmartDashboard.getNumber("shooter power modifier", powerModifier);
         SmartDashboard.putNumber("shooter power modifier", powerModifier);
-        shooterMotorLeft.setControl(voltageRequest.withVelocity(shooterTargetSpeed * powerModifier));
-        shooterMotorRight.setControl(voltageRequest.withVelocity(shooterTargetSpeed * powerModifier));          
+        //shooterMotorLeft.setControl(voltageRequest.withVelocity(shooterTargetSpeed * powerModifier));
+        //shooterMotorRight.setControl(voltageRequest.withVelocity(shooterTargetSpeed * powerModifier));          
     }
 
     public void deactivateShooterAndFeeder() {
diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index d0b0ebc..2a7721d 100644
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -162,6 +162,8 @@ public class Turret extends SubsystemBase implements TurretIO{
 		double motorRotations = turretRotations * TurretConstants.TURRET_GEAR_RATIO;
 		motor.setPosition(motorRotations);
 
+		motor.setPosition(0.0); //TODO: remove after hardcrt works
+
 		SmartDashboard.putData("Turret Mech", mech);
 
 		SmartDashboard.putData("Turret to 90", new InstantCommand(()-> setFieldRelativeTarget(new Rotation2d(Math.PI/2), 0.0)));
@@ -244,19 +246,11 @@ public class Turret extends SubsystemBase implements TurretIO{
 
         Logger.recordOutput("Turret/Voltage", motor.getMotorVoltage().getValue());
 		Logger.recordOutput("Turret/velocitySetpoint", targetVelocity / GEAR_RATIO);
+		Logger.recordOutput("Turret/setpointDeg", Units.radiansToDegrees(setpoint.position));
 
 		// --- Visualization ---
 		ligament.setAngle(Units.radiansToDegrees(getPositionRad()));
 
-		SmartDashboard.putNumber("Turret SetpointDeg",
-				Units.radiansToDegrees(setpoint.position));
-		SmartDashboard.putNumber("Turret motorVelRotPerSec",
-				Units.radiansToDegrees(motorVelRotPerSec));
-        SmartDashboard.putNumber("Turret targetVelocity",
-				Units.radiansToDegrees(targetVelocity));
-		SmartDashboard.putNumber("Turret Position Deg",
-				Units.rotationsToDegrees(motor.getPosition().getValueAsDouble()) / GEAR_RATIO);
-
 		updateInputs();
 		Logger.processInputs("Turret", inputs);