From 1b670b968514aec8cb7e9db070955bef7331ff6d Mon Sep 17 00:00:00 2001 From: samuel desharnais Date: Wed, 21 Feb 2024 18:26:29 -0500 Subject: [PATCH] --- src/main/java/frc/robot/RobotContainer.java | 4 ---- src/main/java/frc/robot/subsystem/Lanceur.java | 2 +- 2 files changed, 1 insertion(+), 5 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 650fed4..d5669cd 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -111,10 +111,6 @@ public class RobotContainer { ,grimpeur)); LED.setDefaultCommand(allumeLED); - - dashboard.add("autochooser",autoChooser) - .withSize(2,1) - .withPosition(1,1); } private void configureBindings() {} diff --git a/src/main/java/frc/robot/subsystem/Lanceur.java b/src/main/java/frc/robot/subsystem/Lanceur.java index b34b5b0..9e457e4 100644 --- a/src/main/java/frc/robot/subsystem/Lanceur.java +++ b/src/main/java/frc/robot/subsystem/Lanceur.java @@ -78,7 +78,7 @@ public class Lanceur extends SubsystemBase { log.motor("shooter-wheel") .voltage( appliedVoltage.mut_replace( - lanceur4.get() * RobotController.getBatteryVoltage(), Volts)) + lanceur4.getAppliedOutput() * lanceur4.getBusVoltage(), Volts)) .angularPosition(angle.mut_replace(lanceur4.getEncoder().getPosition(), Rotations)) .angularVelocity( velocity.mut_replace(lanceur4.getEncoder().getVelocity(), RotationsPerSecond));