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FRCTeam3044 / 2024SwerveBase

Swerve Code for 2024 - Crescendo
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Amp Angle is never set #16

Closed DavidDePauw1 closed 9 months ago

DavidDePauw1 commented 9 months ago

https://github.com/FRCTeam3044/2024SwerveBase/blob/ceddd96198dd04b30f3d4d0b13decdc8b7fb3c9c/src/main/java/frc/robot/commands/AmpShooterCommand.java#L28

@ghorrocks217 The amp angle is never set here. Please make a method in the elevator subsystem for setting the angle of the shooter to the amp angle. The variable containing this angle (or position) should live in the elevator subsystem, NOT the command telling the elevator to go to the amp angle.

DavidDePauw1 commented 9 months ago

Nevermind, I missed the initialize method of this class. The variable amp angle is not an appropriate name for this variable since it is setting the RPM of the shooter (this is not an angle). You should also keep the desired amp rpm contained in the shooter class, do not reference it in the command just to pass it back to the shooter class through the pid handler method.