amp update

vikings204 · Jan 29, 2024 · dc8c481 · dc8c481
1 parent 8660b58
commit dc8c481
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Showing 3 changed files with 13 additions and 9 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -55,7 +55,7 @@ public static final class Shooter {
         public static final double voltageComp = 16.0;
 
         public static final int speakerStrength = 10000;
-        public static final int ampStrength = 2560;
+        public static final double ampStrength = .095;
         public static final int receive = 100;
 
     }

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -76,6 +76,11 @@ private void configureButtonBindings() {
         new JoystickButton(OPERATOR, 6)
         .whileTrue(
             new RunCommand(() -> ShooterSubsystem.bump(true), ShooterSubsystem));    
+
+         new JoystickButton(OPERATOR, 10)
+        .whileTrue(
+            new RunCommand(() -> ShooterSubsystem.ampShot(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
@@ -105,19 +105,18 @@ public void speakerShot(boolean shoot) {
 
     public void ampShot(boolean shoot) {
         if (shoot) {
-            shooterPidController_1.setReference(
-                    Constants.Shooter.ampStrength,
-                    ControlType.kVelocity);
-            shooterPidController_2.setReference(
-                    Constants.Shooter.ampStrength,
-                    ControlType.kVelocity);
+                   shooterMotor_1.set(Constants.Shooter.ampStrength);
+                    shooterMotor_2.set(Constants.Shooter.ampStrength-.025);
         } else {
             shooterPidController_1.setReference(
-                    Constants.Shooter.ampStrength,
+                    0,
                     ControlType.kVelocity);
+            shooterMotor_1.set(0);
             shooterPidController_2.setReference(
-                    Constants.Shooter.ampStrength,
+                    0,
                     ControlType.kVelocity);
+            shooterMotor_2.set(0);
+            bumpMotor.set(0);
         }
     }
         public void receive(boolean shoot) {