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MillenniumFalcons · Aug 22, 2024 · 8f9cddf · 8f9cddf
1 parent 1382565
commit 8f9cddf
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Showing 2 changed files with 13 additions and 4 deletions.
diff --git a/src/main/java/team3647/frc2024/robot/RobotContainer.java b/src/main/java/team3647/frc2024/robot/RobotContainer.java
@@ -11,6 +11,9 @@
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 import java.util.function.BooleanSupplier;
+
+import com.ctre.phoenix6.hardware.TalonFX;
+
 import team3647.frc2024.auto.AutonomousMode;
 import team3647.frc2024.commands.ClimbCommands;
 import team3647.frc2024.commands.DrivetrainCommands;
@@ -82,6 +85,7 @@ public RobotContainer() {
         climb.setEncoder(0);
         churro.setEncoder(ChurroConstants.kInitialDegree);
         swerve.setRobotPose(runningMode.getPathplannerPose2d());
+        shooterLeft.addFollower(new TalonFX(33, GlobalConstants.subsystemsLoopName));
 
         RobotController.setBrownoutVoltage(5.5);
     }

diff --git a/src/main/java/team3647/frc2024/subsystems/ShooterLeft.java b/src/main/java/team3647/frc2024/subsystems/ShooterLeft.java
@@ -5,6 +5,7 @@
 import edu.wpi.first.units.Measure;
 import edu.wpi.first.units.Units;
 import edu.wpi.first.units.Voltage;
+import edu.wpi.first.wpilibj.motorcontrol.Talon;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction;
@@ -29,12 +30,12 @@ public ShooterLeft(
         this.m_shooterSysIdRoutine =
                 new SysIdRoutine(
                         new SysIdRoutine.Config(
-                                Units.Volts.of(6).per(Units.Seconds.of(1)),
-                                Units.Volts.of(30),
-                                Units.Seconds.of(20),
+                                Units.Volts.of(0.8).per(Units.Seconds.of(1)),
+                                Units.Volts.of(7.5),
+                                Units.Seconds.of(10),
                                 ModifiedSignalLogger.logState()),
                         new SysIdRoutine.Mechanism(
-                                (Measure<Voltage> volts) -> setTorque(volts.in(Units.Volts)),
+                                (Measure<Voltage> volts) -> setVoltage(volts.in(Units.Volts)),
                                 null,
                                 this));
     }
@@ -51,6 +52,10 @@ public void openLoop(double demand) {
         super.setOpenloop(demand);
     }
 
+    public void addFollower(TalonFX follower){
+        this.addFollower(follower, true);
+    }
+
     public void setTorque(double torque) {
         super.setTorque(torque);
     }