Update flywheel speeds

OakvilleDynamics · Mar 6, 2024 · 624c997 · 624c997
1 parent 32b7e6d
commit 624c997
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Showing 3 changed files with 16 additions and 8 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -91,6 +91,7 @@ public static class MechanismConstants {
     public static final int FLYWHEEL_MOTOR_2 = 4;
     public static final boolean FLYWHEEL_MOTOR_1_INVERTED = true;
     public static final boolean FLYWHEEL_MOTOR_2_INVERTED = false;
-    public static final double FLYWHEEL_MOTOR_SPEED = 0.8;
+    public static final double FLYWHEEL_MOTOR_SPEED = 1.0;
+    public static final double FLYWHEEL_MOTOR_SPEED_SLOW = 0.15;
   }
 }
diff --git a/src/main/java/frc/robot/commands/FlyWCommand.java b/src/main/java/frc/robot/commands/FlyWCommand.java
@@ -25,12 +25,14 @@ public void initialize() {}
   @Override
   public void execute() {
     // TODO: Change this to the correct button
-    if (ConveyorJoystick.getRawButton(3) == true) {
-      m_FlyWSubsystem.enableflywheel();
+    if (ConveyorJoystick.getRawButton(7) == true) {
+      m_FlyWSubsystem.enableflywheelfast();
       // TODO: Change this to the correct button
-    } else if (ConveyorJoystick.getRawButton(4) == true) {
+    } else if (ConveyorJoystick.getRawButton(8) == true) {
       m_FlyWSubsystem.reverseflywheel();
       System.out.println("Conveyor Moving in Reverse");
+    } else if (ConveyorJoystick.getRawButton(9) == true) {
+      m_FlyWSubsystem.enableflywheelslow();
     } else {
       m_FlyWSubsystem.disableflywheel();
     }
@@ -39,7 +41,6 @@ public void execute() {
   @Override
   public void end(boolean interrupted) {
     m_FlyWSubsystem.disableflywheel();
-    m_FlyWSubsystem.enableflywheel();
   }
 
   @Override

diff --git a/src/main/java/frc/robot/subsystems/FlyWheel.java b/src/main/java/frc/robot/subsystems/FlyWheel.java
@@ -23,11 +23,17 @@ public FlyWheel() {
   }
 
   /** Sets the flywheel motors to 100% power. */
-  public void enableflywheel() {
+  public void enableflywheelfast() {
     flywheelMotor1.set(MechanismConstants.FLYWHEEL_MOTOR_SPEED);
     flywheelMotor2.set(MechanismConstants.FLYWHEEL_MOTOR_SPEED);
   }
 
+  /** Sets the flywheel motors to slow speed */
+  public void enableflywheelslow() {
+    flywheelMotor1.set(MechanismConstants.FLYWHEEL_MOTOR_SPEED_SLOW);
+    flywheelMotor2.set(MechanismConstants.FLYWHEEL_MOTOR_SPEED_SLOW);
+  }
+
   /** Sets the flywheel motors to 0% power. */
   public void disableflywheel() {
     flywheelMotor1.set(0);
@@ -36,8 +42,8 @@ public void disableflywheel() {
 
   /** Sets the flywheel motors to -100% power. (Reverse direction) */
   public void reverseflywheel() {
-    flywheelMotor1.set(-MechanismConstants.FLYWHEEL_MOTOR_SPEED);
-    flywheelMotor2.set(-MechanismConstants.FLYWHEEL_MOTOR_SPEED);
+    flywheelMotor1.set(-MechanismConstants.FLYWHEEL_MOTOR_SPEED_SLOW);
+    flywheelMotor2.set(-MechanismConstants.FLYWHEEL_MOTOR_SPEED_SLOW);
   }
 
   @Override