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commented out left shooter

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Team2890HawkCollective
2026-02-21 09:24:25 -05:00
parent 124e3d9979
commit a8f351854f
1 changed files with 15 additions and 15 deletions
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30
src/main/java/frc/robot/subsystems/ShooterSubsystem.java
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@@ -30,8 +30,8 @@ public class ShooterSubsystem extends SubsystemBase {
private static SparkFlex centerShooterMotor = new SparkFlex(Constants.ShooterConstants.CENTER_SHOOTER_MOTOR_ID,
MotorType.kBrushless);
private static SparkFlex leftShooterMotor = new SparkFlex(Constants.ShooterConstants.LEFT_SHOOTER_MOTOR_ID,
MotorType.kBrushless);
//private static SparkFlex leftShooterMotor = new SparkFlex(Constants.ShooterConstants.LEFT_SHOOTER_MOTOR_ID,
// MotorType.kBrushless);
private static SparkFlex rightShooterMotor = new SparkFlex(Constants.ShooterConstants.RIGHT_SHOOTER_MOTOR_ID,
MotorType.kBrushless);
@@ -42,8 +42,8 @@ public class ShooterSubsystem extends SubsystemBase {
private static SparkClosedLoopController centerShooterMotorPIDController;
public static SparkFlexConfig centerShooterMotorConfig = new SparkFlexConfig();
private static SparkClosedLoopController leftShooterMotorPIDController;
public static SparkFlexConfig leftShooterMotorConfig = new SparkFlexConfig();
//private static SparkClosedLoopController leftShooterMotorPIDController;
//public static SparkFlexConfig leftShooterMotorConfig = new SparkFlexConfig();
private static SparkClosedLoopController rightShooterMotorPIDController;
public static SparkFlexConfig rightShooterMotorConfig = new SparkFlexConfig();
@@ -59,13 +59,13 @@ public class ShooterSubsystem extends SubsystemBase {
com.revrobotics.PersistMode.kNoPersistParameters);
centerShooterMotorPIDController = centerShooterMotor.getClosedLoopController();
leftShooterMotorConfig.closedLoop.pid(Constants.ShooterConstants.SHOOTER_MOTOR_P,
/*leftShooterMotorConfig.closedLoop.pid(Constants.ShooterConstants.SHOOTER_MOTOR_P,
Constants.ShooterConstants.SHOOTER_MOTOR_I,
Constants.ShooterConstants.SHOOTER_MOTOR_D);
leftShooterMotor.configure(leftShooterMotorConfig, com.revrobotics.ResetMode.kNoResetSafeParameters,
com.revrobotics.PersistMode.kNoPersistParameters);
leftShooterMotorPIDController = leftShooterMotor.getClosedLoopController();
*/
rightShooterMotorConfig.closedLoop.pid(Constants.ShooterConstants.SHOOTER_MOTOR_P,
Constants.ShooterConstants.SHOOTER_MOTOR_I,
Constants.ShooterConstants.SHOOTER_MOTOR_D);
@@ -95,37 +95,37 @@ public class ShooterSubsystem extends SubsystemBase {
public void setShooterMotorsRPM() {
centerShooterMotorPIDController.setSetpoint(Constants.ShooterConstants.SHOOTER_RPM,ControlType.kVelocity);
leftShooterMotorPIDController.setSetpoint(Constants.ShooterConstants.SHOOTER_RPM,ControlType.kVelocity);
//rightShooterMotorPIDController.setSetpoint(Constants.ShooterConstants.SHOOTER_RPM,ControlType.kVelocity);
//leftShooterMotorPIDController.setSetpoint(Constants.ShooterConstants.SHOOTER_RPM,ControlType.kVelocity);
rightShooterMotorPIDController.setSetpoint(Constants.ShooterConstants.SHOOTER_RPM,ControlType.kVelocity);
}
public double getShooterMotorRPM() {
return leftShooterMotor.getEncoder().getVelocity();
return rightShooterMotor.getEncoder().getVelocity();
}
public void setIndexerAndRampMotorRPM() {
indexerAndRampMotorPIDController.setSetpoint(Constants.ShooterConstants.INDEXER_AND_RAMP_MOTOR_RPM, ControlType.kVelocity);
}
public Command shootFuelCommand() {
/* public Command shootFuelCommand() {
return run(() -> setShooterMotorsRPM())
.until(() -> {
return (getShooterMotorRPM() >= Constants.ShooterConstants.SHOOTER_RPM);
})
.andThen(() -> setIndexerAndRampMotorRPM());
}
.andThen(() -> setIndexerAndRampMotorRPM());
} */
/* public Command shootFuelCommand() {
public Command shootFuelCommand() {
return runOnce(() -> setShooterMotorsRPM()).andThen(new WaitCommand(2))
.andThen(() -> setIndexerAndRampMotorRPM());
}; */
};
public void stopShooters() {
centerShooterMotor.set(0);
leftShooterMotor.set(0);
//leftShooterMotor.set(0);
rightShooterMotor.set(0);
indexerAndRampMotor.set(0);