From ea0bbf5fd6edbb6c928d8478074bf1a36370723c Mon Sep 17 00:00:00 2001 From: iefomit Date: Tue, 31 Mar 2026 18:36:13 -0700 Subject: [PATCH] shooter power modifier --- .../robot/controls/PS5ControllerDriverConfig.java | 13 +++++++++++++ .../java/frc/robot/subsystems/shooter/Shooter.java | 1 + 2 files changed, 14 insertions(+) diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java index 4146791..ae09130 100644 --- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java +++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java @@ -4,6 +4,7 @@ import java.util.function.BooleanSupplier; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.wpilibj.DriverStation.Alliance; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; import edu.wpi.first.wpilibj2.command.FunctionalCommand; @@ -170,6 +171,18 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig { // controller.get(PS5Button.TOUCHPAD).onTrue(new InstantCommand(() -> { // new BrownOutControl(shooter, spindexer, turret, intake, hood, getDrivetrain()); // })); + + // shooter power modifier + if (shooter != null) { + controller.get(PS5Button.PS).onTrue(new InstantCommand(() -> { + double current = SmartDashboard.getNumber("OPERATOR: Shooter Power Modifier", 1.05); + SmartDashboard.putNumber("OPERATOR: Shooter Power Modifier", current + 0.05); + })); + controller.get(PS5Button.TRIANGLE).onTrue(new InstantCommand(() -> { + double current = SmartDashboard.getNumber("OPERATOR: Shooter Power Modifier", 1.05); + SmartDashboard.putNumber("OPERATOR: Shooter Power Modifier", Math.max(0.5, current - 0.05)); + })); + } } @Override diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java index bdd1874..13d20a8 100644 --- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java +++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java @@ -61,6 +61,7 @@ public class Shooter extends SubsystemBase implements ShooterIO { shooterMotorLeft.getConfigurator().apply(limitConfig); shooterMotorRight.getConfigurator().apply(limitConfig); + SmartDashboard.putNumber("OPERATOR: Shooter Power Modifier", powerModifier); SmartDashboard.putData("Turn on shooter", new InstantCommand(()-> setShooter(12.0))); } -- 2.39.5