added shooter kg back in

Team334 · Mar 21, 2024 · e5284b8 · e5284b8
1 parent c69dffa
commit e5284b8
Show file tree

Hide file tree

Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/...a/frc/robot/commands/auto/NoteAllign.java → ...va/frc/robot/commands/auto/NoteAlign.java b/...a/frc/robot/commands/auto/NoteAllign.java → ...va/frc/robot/commands/auto/NoteAlign.java
@@ -16,7 +16,7 @@
 import frc.robot.subsystems.SwerveDriveSubsystem;
 import frc.robot.subsystems.VisionSubsystem;
 
-public class NoteAllign extends Command {
+public class NoteAlign extends Command {
 
   private SwerveDriveSubsystem _swerve;
   private VisionSubsystem _vision;
@@ -27,8 +27,8 @@ public class NoteAllign extends Command {
 
   private PIDController _headingController = new PIDController(0, 0, 0);
 
-  /** Creates a new NoteAllign. */
-  public NoteAllign(SwerveDriveSubsystem swerve, VisionSubsystem vision, DoubleSupplier xSpeed, DoubleSupplier ySpeed) {
+  /** Creates a new NoteAlign. */
+  public NoteAlign(SwerveDriveSubsystem swerve, VisionSubsystem vision, DoubleSupplier xSpeed, DoubleSupplier ySpeed) {
     // Use addRequirements() here to declare subsystem dependencies.
     _swerve = swerve;
     _vision = vision;

diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
@@ -39,7 +39,7 @@ public class ShooterSubsystem extends SubsystemBase {
 
   private final RelativeEncoder _leftEncoder = _leftMotor.getEncoder();
 
-  private final ArmFeedforward _angleFeed = new ArmFeedforward(0, 0, 0);
+  private final ArmFeedforward _angleFeed = new ArmFeedforward(0, FeedForward.SHOOTER_ANGLE_KG, 0);
   private final PIDController _angleController = new PIDController(PID.SHOOTER_ANGLE_KP, 0, 0);
 
   private final Debouncer _revDebouncer = new Debouncer(0.5, DebounceType.kRising);