From 7d853593f0d858352d6c20025b723fcbe7c34e0f Mon Sep 17 00:00:00 2001 From: Wesley28w Date: Thu, 5 Feb 2026 17:08:52 -0800 Subject: [PATCH] a --- src/main/java/frc/robot/subsystems/shooter/Shooter.java | 2 +- .../java/frc/robot/subsystems/shooter/ShooterConstants.java | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java index b26e1f7..c3febf3 100644 --- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java +++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java @@ -105,7 +105,7 @@ public class Shooter extends SubsystemBase implements ShooterIO { if (Math.abs(shooterMotorLeft.getVelocity().getValueAsDouble() - shooterTargetSpeed) < ShooterConstants.TORQUE_CURRENT_CONTROL_TOLERANCE) { phase = FlywheelPhase.MAX; // we need to recover from ball velocity in order to be back to idle } else { - phase = FlywheelPhase.CONSTANT_TORQUE; + phase = FlywheelPhase.CONSTANT_TORQUE; } } diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java b/src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java index 8783361..3c47d33 100644 --- a/src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java +++ b/src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java @@ -4,7 +4,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; public class ShooterConstants { //TODO: find these values - public static final double FEEDER_RUN_POWER = 0.3; // meters per second?? + public static final double FEEDER_RUN_POWER = 0.5; // meters per second?? public static double SHOOTER_VELOCITY = 30.0; // meters per second public static final double SHOOTER_GEAR_RATIO = 36.0 / 24.0; // gear ratio from motors to shooter wheel // public static final double SHOOTER_LAUNCH_DIAMETER = 0.0762; // meters (3 inches) @@ -17,7 +17,7 @@ public class ShooterConstants { public static final double EXIT_VELOCITY_TOLERANCE = 1.0; // for bang bang - public static final double TORQUE_CURRENT_CONTROL_TOLERANCE = 20; // 20 amps + public static final double TORQUE_CURRENT_CONTROL_TOLERANCE = 10; // velocity (rotations per second) } // 8 velcocity is too little -- 2.39.5