From 604c0e153c79734fa5d5ab9b34fe843dcae84189 Mon Sep 17 00:00:00 2001 From: WesleyWong-972 Date: Thu, 12 Mar 2026 21:41:56 -0700 Subject: [PATCH] BUT ACTUALLY NOW --- src/main/java/frc/robot/subsystems/shooter/Shooter.java | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java index 363e9d1..bb9f6ba 100644 --- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java +++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java @@ -30,7 +30,7 @@ public class Shooter extends SubsystemBase implements ShooterIO { private final ShooterIOInputsAutoLogged inputs = new ShooterIOInputsAutoLogged(); - double powerModifier = 1.25; // TESTED + double powerModifier = 1.1; // TESTED public Shooter(){ updateInputs(); @@ -68,6 +68,10 @@ public class Shooter extends SubsystemBase implements ShooterIO { // Convert to RPS double targetVelocityRPS = Units.radiansToRotations(shooterTargetSpeed / (ShooterConstants.SHOOTER_LAUNCH_DIAMETER/2)) * powerModifier; + + SmartDashboard.putNumber("Target Velocity RPS", targetVelocityRPS); + SmartDashboard.putNumber("Shooter Motor RPS", shooterMotorLeft.getVelocity().getValueAsDouble()); + // Sets the motor control to target velocity shooterMotorLeft.setControl(voltageRequest.withVelocity(targetVelocityRPS)); shooterMotorRight.setControl(voltageRequest.withVelocity(targetVelocityRPS)); -- 2.39.5