KeshavAnandCode/FTCDecodeMain
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fly wheel by velocity

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This commit is contained in:
DanTheMan-byte
2025-11-16 20:20:13 -06:00
parent 31b98cc8a1
commit f8222e292f
1 changed files with 3 additions and 4 deletions
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7
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Shooter.java
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@@ -120,8 +120,7 @@ public class Shooter implements Subsystem {
public void setTurretPosition(double pos) {turretPos = pos;} public void setTurretPosition(double pos) {turretPos = pos;}
public double getVelocity(double cpr) { public double getVelocity(double cpr) {
double rotations = 60*(fly1.getVelocity() / (2*cpr)); return 60*(fly1.getVelocity() / (2*cpr));
return rotations;
} }
public void setVelocity(double vel){velocity = vel;} public void setVelocity(double vel){velocity = vel;}
@@ -167,11 +166,11 @@ public class Shooter implements Subsystem {
public double getECPRPosition(){ public double getECPRPosition(){
return (fly1.getCurrentPosition() * 360 / ecpr); return (fly1.getCurrentPosition() * 720 / ecpr);
} }
public double getMCPRPosition(){ public double getMCPRPosition(){
return (fly1.getCurrentPosition() * 360) / mcpr; return (fly1.getCurrentPosition() * 720) / mcpr;
} }
public void setShooterMode(String mode){ shooterMode = mode;} public void setShooterMode(String mode){ shooterMode = mode;}