feat(shooter): Get ready to test shooter.

Gongoliers · Apr 2, 2024 · 29bd5aa · 29bd5aa
1 parent 7b8c17b
commit 29bd5aa
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Showing 3 changed files with 11 additions and 4 deletions.
diff --git a/simgui-ds.json b/simgui-ds.json
@@ -101,8 +101,7 @@
       "useGamepad": true
     },
     {
-      "guid": "030000006d0400001dc2000014400000",
-      "useGamepad": true
+      "guid": "Keyboard0"
     }
   ]
 }
diff --git a/simgui.json b/simgui.json
@@ -188,7 +188,7 @@
             0.0,
             0.8500000238418579
           ],
-          "height": 338,
+          "height": 0,
           "series": [
             {
               "color": [

diff --git a/src/main/java/frc/robot/shooter/FlywheelMotorIOTalonFX.java b/src/main/java/frc/robot/shooter/FlywheelMotorIOTalonFX.java
@@ -4,6 +4,8 @@
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
 import com.ctre.phoenix6.hardware.TalonFX;
 import com.ctre.phoenix6.signals.NeutralModeValue;
+
+import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import frc.lib.Configurator;
 
 /** Flywheel motor using TalonFX. */
@@ -13,11 +15,15 @@ public class FlywheelMotorIOTalonFX implements FlywheelMotorIO {
 
   private final StatusSignal<Double> velocityRotationsPerSecond, statorCurrentAmps;
 
+  private final SimpleMotorFeedforward velocityFeedforward;
+
   public FlywheelMotorIOTalonFX() {
     talonFX = new TalonFX(30);
 
     velocityRotationsPerSecond = talonFX.getVelocity();
     statorCurrentAmps = talonFX.getStatorCurrent();
+
+    velocityFeedforward = new SimpleMotorFeedforward(0, 0);
   }
 
   @Override
@@ -40,6 +46,8 @@ public void update(FlywheelMotorIOValues values) {
 
   @Override
   public void setSetpoint(double velocityRotationsPerSecond) {
-    // TODO Implement velocity setpoint
+    double volts = velocityFeedforward.calculate(velocityRotationsPerSecond);
+
+    talonFX.setVoltage(volts);
   }
 }