From 090eb3ff0d36da82f15fbff16a09eb1e44ff14f4 Mon Sep 17 00:00:00 2001 From: mixxlto Date: Wed, 21 Jan 2026 16:28:33 -0800 Subject: [PATCH] fdsa --- .../java/frc/robot/controls/PS5ControllerDriverConfig.java | 2 +- src/main/java/frc/robot/subsystems/shooter/Shooter.java | 5 +++-- src/main/java/frc/robot/subsystems/turret/Turret.java | 2 -- 3 files changed, 4 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java index f38676a..e7af91c 100644 --- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java +++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java @@ -66,7 +66,7 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig { driver.get(PS5Button.LB).onTrue( new SequentialCommandGroup( - new InstantCommand(()-> shooter.setShooter(ShooterConstants.SHOOTER_VELOCITY)), + new InstantCommand(()-> shooter.setShooter(-ShooterConstants.SHOOTER_VELOCITY)), new WaitCommand(0.8), new InstantCommand(()-> shooter.setFeeder(ShooterConstants.FEEDER_RUN_POWER)) ) diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java index 5e9e2cf..68c9862 100644 --- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java +++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java @@ -11,11 +11,11 @@ import com.ctre.phoenix6.signals.InvertedValue; import com.ctre.phoenix6.signals.NeutralModeValue; 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; -public class Shooter { +public class Shooter extends SubsystemBase { private TalonFX shooterMotorLeft = new TalonFX(IdConstants.SHOOTER_LEFT_ID, Constants.RIO_CAN); private TalonFX shooterMotorRight = new TalonFX(IdConstants.SHOOTER_RIGHT_ID, Constants.RIO_CAN); @@ -79,6 +79,7 @@ public class Shooter { public void setShooter(double linearVelocityMps) { double wheelCircumference = Math.PI * ShooterConstants.SHOOTER_LAUNCH_DIAMETER; shooterTargetSpeed = linearVelocityMps * ShooterConstants.SHOOTER_GEAR_RATIO / wheelCircumference; // rps + System.out.println("Shooter is working"); } public double getFeederVelocity() { diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java index da4f186..915b43d 100644 --- a/src/main/java/frc/robot/subsystems/turret/Turret.java +++ b/src/main/java/frc/robot/subsystems/turret/Turret.java @@ -138,8 +138,6 @@ public class Turret extends SubsystemBase implements TurretIO{ //Tune this with rotating robot double dV = TurretConstants.ROTATIONAL_VELOCITY_CONSTANT; motor.setControl(voltageRequest.withPosition(motorTargetRotations).withFeedForward(dV * robotRotVel)); - - System.out.println("Workingnnnnngnggdsfadsfsa"); } } -- 2.39.5