From f8222e292f13f20d1dee4e8bd05c01857a5628aa Mon Sep 17 00:00:00 2001 From: DanTheMan-byte Date: Sun, 16 Nov 2025 20:20:13 -0600 Subject: [PATCH] fly wheel by velocity --- .../org/firstinspires/ftc/teamcode/subsystems/Shooter.java | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Shooter.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Shooter.java index 72ea3cc..62be51a 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Shooter.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Shooter.java @@ -120,8 +120,7 @@ public class Shooter implements Subsystem { public void setTurretPosition(double pos) {turretPos = pos;} public double getVelocity(double cpr) { - double rotations = 60*(fly1.getVelocity() / (2*cpr)); - return rotations; + return 60*(fly1.getVelocity() / (2*cpr)); } public void setVelocity(double vel){velocity = vel;} @@ -167,11 +166,11 @@ public class Shooter implements Subsystem { public double getECPRPosition(){ - return (fly1.getCurrentPosition() * 360 / ecpr); + return (fly1.getCurrentPosition() * 720 / ecpr); } public double getMCPRPosition(){ - return (fly1.getCurrentPosition() * 360) / mcpr; + return (fly1.getCurrentPosition() * 720) / mcpr; } public void setShooterMode(String mode){ shooterMode = mode;}