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Adjusted shooter RPM code

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Team2890HawkCollective
2026-02-20 17:55:41 -05:00
parent 7eb5122c55
commit 846ceca1e8
4 changed files with 23 additions and 63 deletions
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8
src/main/java/frc/robot/Constants.java
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@@ -71,8 +71,7 @@ public final class Constants {
private static GenericEntry shooterVelocity = programmingTab.add("Desired Shooter RPM", -1000)
.withWidget(BuiltInWidgets.kNumberBar).getEntry();
public static double SHOOTER_RPM = -0.6;
public static double SHOOTER_POWER = -0.45;
public static double SHOOTER_RPM;
public static void getShooterVelocity() {
SHOOTER_RPM = shooterVelocity.getDouble(-1000);
@@ -87,6 +86,7 @@ public final class Constants {
public static double SHOOTER_MOTOR_P = 0.001;
public static double SHOOTER_MOTOR_I = 0;
public static double SHOOTER_MOTOR_D = 0;
private static GenericEntry indexerAndRampRPM = programmingTab.add("Desired Ramp + Indexer Speed", 1000)
.withWidget(BuiltInWidgets.kNumberBar).getEntry();
@@ -113,7 +113,6 @@ public final class Constants {
public static final int INTAKE_WHEELS_MOTOR_ID = 50;
public static final int INTAKE_ROTATOR_MOTOR_ID = 51;
public static class IntakeRotatorPID {
public static final double INTAKE_ROTATOR_P = 0.01;
@@ -124,7 +123,7 @@ public final class Constants {
public static final double INTAKE_COLLECT_ENCODER_VALUE = 4.1290459632873535;
public static final double INTAKE_MIDDLE_ENCODER_VALUE = 1.2550222873687744;
public static final double INTAKE_RETRACT_ENCODER_VALUE = 0;
}
}
public static class RampConstants {
public static final int RAMP_MOTOR_ID = 45;
@@ -138,6 +137,7 @@ public final class Constants {
public static void getRampMotorSpeed() {
RAMP_MOTOR_SPEED = rampSpeed.getDouble(0.4);
}
public static double RAMP_MOTOR_SPEED = .6;
// create object and a new widget under programming tab in Elastic where object