Merge branch 'main' of https://github.com/Team334/R2024

Team334 · Jan 19, 2024 · 86423a7 · 86423a7
2 parents 915dd90 + 9b38fa4
commit 86423a7
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Showing 2 changed files with 9 additions and 4 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -33,6 +33,9 @@ public static class CAN {
     public static final int ENC_BACK_LEFT = 12;
     public static final int ENC_BACK_RIGHT = 11;
 
+    public static final int SHOOTER_LEFT = 13;
+    public static final int SHOOTER_RIGHT = 14;
+
     public static final int CAN_TIMEOUT = 10;
   }
 

diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
@@ -4,12 +4,14 @@
 package frc.robot.subsystems;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants;
+
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 
 public class ShooterSubsystem extends SubsystemBase {
-  private CANSparkMax _leftMotor = new CANSparkMax(0, MotorType.kBrushless);
-  private CANSparkMax _rightMotor = new CANSparkMax(1, MotorType.kBrushless);
+  private CANSparkMax _leftMotor = new CANSparkMax(Constants.CAN.SHOOTER_LEFT, MotorType.kBrushless); 
+  private CANSparkMax _rightMotor = new CANSparkMax(Constants.CAN.SHOOTER_RIGHT, MotorType.kBrushless); 
 
   /** Creates a new ShooterSubsystem. */
   public ShooterSubsystem() {
@@ -23,8 +25,8 @@ public void periodic() {
   }
 
   public void spinMotor(){
-    _leftMotor.set(-1);
-    _rightMotor.set(1);
+    _leftMotor.set(-1.0);
+    _rightMotor.set(1.0);
   }
 
   public void stopMotors(){