Merge branch 'testing' of https://github.com/Creekside7688/FRC-2024 i…

…nto testing asdfsadf
Creekside7688 · Feb 26, 2024 · d3e4e39 · d3e4e39
2 parents 749fe04 + b3c3d81
commit d3e4e39
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diff --git a/src/main/java/frc/robot/constants/ShooterConstants.java b/src/main/java/frc/robot/constants/ShooterConstants.java
@@ -4,7 +4,7 @@
 
 public class ShooterConstants {
     public static final int MOTOR_ID = 10;
-    public static final int CURRENT_LIMIT = 50;
+    public static final int CURRENT_LIMIT = 90;
     public static final IdleMode IDLE_MODE = IdleMode.kCoast;
 
     public static final double SHOOTER_SPINUP_DELAY = 10;

diff --git a/src/main/java/frc/robot/shooter/Shooter.java b/src/main/java/frc/robot/shooter/Shooter.java
@@ -1,21 +1,29 @@
 package frc.robot.shooter;
 
 import com.revrobotics.CANSparkMax;
+import com.revrobotics.RelativeEncoder;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.constants.ShooterConstants;
 
 public class Shooter extends SubsystemBase {
     private final CANSparkMax motor = new CANSparkMax(ShooterConstants.MOTOR_ID, MotorType.kBrushless);
+    private final RelativeEncoder encoder;
 
     public Shooter() {
         motor.setSmartCurrentLimit(ShooterConstants.CURRENT_LIMIT);
         motor.setIdleMode(ShooterConstants.IDLE_MODE);
+        motor.burnFlash();
+
+        encoder = motor.getEncoder();
+        encoder.setPositionConversionFactor(1);
     }
 
     @Override
     public void periodic() {
+        SmartDashboard.putNumber(getName(), encoder.getVelocity());
     }
 
     public void run(double speed) {