shooter voltage control

Team-4795 · Oct 26, 2024 · 701f90d · 701f90d
1 parent 4466148
commit 701f90d
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Showing 4 changed files with 24 additions and 1 deletion.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -185,10 +185,22 @@ private void configureButtonBindings() {
     //                         .withTimeout(3)))));
 
     controller
-        .povDown()
+        .povLeft()
         .whileTrue(
             Commands.startEnd(() -> shooter.setVoltage(-9), () -> shooter.setVoltage(0), pivot));
 
+    controller
+        .povUp()
+        .onTrue(
+          Commands.startEnd(() -> shooter.changeVoltage(1), () -> shooter.setVoltage(1))
+        );
+
+  controller
+    .povUp()
+    .onTrue(
+      Commands.startEnd(() -> shooter.changeVoltage(-1), () -> shooter.setVoltage(-1))
+    );
+
     controller
         .povRight()
         .whileTrue(

diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -28,6 +28,13 @@ public void setVoltage(double voltage) {
     io.setVoltage(voltage);
   }
 
+  public void changeVoltage(double dv) {
+    setLeftRightVoltage(
+      inputs.leftVoltage >= 1 + dv ? inputs.leftVoltage + dv : 0, 
+      inputs.rightVoltage >= 1 + dv ? inputs.rightVoltage + dv : 0
+    );
+  }
+
   public void setLeftRightVoltage(double leftVoltage, double rightVoltage) {
     io.setRightVoltage(rightVoltage);
     io.setLeftVoltage(leftVoltage);

diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java
@@ -7,6 +7,8 @@ public interface ShooterIO {
   public static class ShooterIOInputs {
     public double leftMotorVelocity = 0.0;
     public double rightMotorVelocity = 0.0;
+    public double leftVoltage = 0.0;
+    public double rightVoltage = 0.0;
   }
 
   public default void spinForwards() {}

diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java
@@ -62,5 +62,7 @@ public double getRightvelocity() {
   public void updateInputs(ShooterIOInputs inputs) {
     inputs.leftMotorVelocity = getLeftvelocity();
     inputs.rightMotorVelocity = getRightvelocity();
+    inputs.leftVoltage = leftShooterMotor.getBusVoltage();
+    inputs.leftVoltage = rightShooterMotor.getBusVoltage();
   }
 }