Update Shooter.kt

team4099 · Jan 17, 2024 · 525a6cd · 525a6cd
1 parent d29adaf
commit 525a6cd
Showing 1 changed file with 5 additions and 5 deletions.
diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/Shooter/Shooter.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/Shooter/Shooter.kt
@@ -18,11 +18,11 @@ import org.team4099.lib.units.perSecond
 class Shooter (val io: ShooterIO){
     val inputs = ShooterIO.ShooterIOInputs()
     //TODO do feedforward
-<<<<<<< HEAD
+
     private var wristFeedforward: SimpleMotorFeedforward<Meter, Volt>
-=======
+
     private var WristFeedforward: SimpleMotorFeedforward<Meter, Volt>(kS,kV,kA)
->>>>>>> 829a07586e50bf71782342ae9623c560237b502b
+// >>>>>>> 829a07586e50bf71782342ae9623c560237b502b
 
 /*
     private val wristflywheelkP =
@@ -67,7 +67,7 @@ class Shooter (val io: ShooterIO){
         )
     private var wristProfile =
         TrapezoidProfile(
-            wristConstraints,
+            TrapezoidProfile.Constraints,
             TrapezoidProfile.State(-1337.radians, -1337.radians.perSecond),
             TrapezoidProfile.State(-1337.radians, -1337.radians.perSecond)
         )
@@ -103,7 +103,7 @@ fun periodic(){
             if (wristPositionTarget!=lastWristPositionTarget){
                 val preProfileGenerate = Clock.fpgaTime
                 wristProfile = TrapezoidProfile(
-                    wristConstraints,
+                    TrapezoidProfile.Constraints,
                     TrapezoidProfile.State(wristPositionTarget, 0.0.radians.perSecond),
                     TrapezoidProfile.State(inputs.wristPostion, inputs.wristVelocity)
                 )