maybe intake

vikings204 · Jan 22, 2024 · 87ccf2e · 87ccf2e
1 parent e2a7804
commit 87ccf2e
Show file tree

Hide file tree

Showing 3 changed files with 18 additions and 17 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -53,16 +53,16 @@ public static final class Shooter {
         public static final int driveContinuousCurrentLimit = 10;
         public static final double voltageComp = 12.0;
 
-        public static final int speakerStrength = 15760;
+        public static final int speakerStrength = -1000;
         public static final int ampStrength = 2560;
-        public static final int receive = -100;
+        public static final int receive = 100;
 
     }
 
     public static final class Swerve {
-        public static final double fastDriveSpeedMultiplier = 1.0;
-        public static final double normalDriveSpeedMultiplier = 1.0;
-        public static final double slowDriveSpeedMultiplier = 1.0;
+        public static final double fastDriveSpeedMultiplier = .8;
+        public static final double normalDriveSpeedMultiplier = .6;
+        public static final double slowDriveSpeedMultiplier = .4;
         public static final int PIGEON2_ID = 10;
         //SET ME Each Run...
         public static final double robotOffset = 0.0;

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -48,9 +48,9 @@ public RobotContainer() {
                         ShooterSubsystem));
     }
     private void configureButtonBindings() {
-        new JoystickButton(CONTROLLER, 4)
-        .whileTrue(
-            new RunCommand(() -> ShooterSubsystem.receive(true), ShooterSubsystem));
+       // new JoystickButton(CONTROLLER, 5)
+        //.whileTrue(
+          //  new RunCommand(() -> ShooterSubsystem.receive(true), ShooterSubsystem));
     }
 
     public Command getAutonomousCommand() {

diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
@@ -114,15 +114,16 @@ public void receive(boolean shoot) {
             shooterPidController_2.setReference(
                     Constants.Shooter.receive,
                     ControlType.kVelocity);
-        } else {
-            shooterPidController_1.setReference(
-                    0,
-                    ControlType.kVelocity);
-            shooterMotor_1.set(0);
-            shooterPidController_2.setReference(
-                    0,
-                    ControlType.kVelocity);
-            shooterMotor_2.set(0);
+        } 
+        else {
+          //  shooterPidController_1.setReference(
+            //        0,
+              //      ControlType.kVelocity);
+            //shooterMotor_1.set(0);
+            //shooterPidController_2.setReference(
+              //      0,
+                //    ControlType.kVelocity);
+            //shooterMotor_2.set(0);
         }
     }
 }