Create Shooter System

[Maayan-Luzon]

The system:

• Two CANSparkMAXs, master and follower.
• Two RelativeEncoder (get them from the sparks).
• Two constant speeds. High for the "speaker" and low for the "amp".
• PID to control the system's speed.

Actions:

• One to make the system shoot at constant speed.
• One to make the system return the note back inside to the intake system.

[Maayan-Luzon]

Some fixes and checks:

• The follower motor does not need to be inverted.
• Change the code of setting the PID to: this.pid = PidController.newNamedController("SHOOTER PID", KP, KI, KD, KF); (ask for instruction)
• Pay attention the .set() and the ancoder.getVelocity() dose not work with the same units. Fix the method getPID() in accordance.
• In the robotMap, the master's value is 12 and the follower's value is 14.

In case it have not been done yet, check what is the ideal velocity for the system: You must run .set(value) multiple times for various motor values and verify the specified speed in Shuffleboard (the speed is reported in rpm units). Choose a speed that is high enough to make the movement resemble a straight line, but not too high that it reverses the trajectory or causes the note to return after striking the target. To be sure, the experiments should also be performed using the completed filed parts (speaker and amp).