make shoot piece take in (left, right) and follow that convention wit…

…h all calls
blair-robot-project · Apr 16, 2024 · 5c8f929 · 5c8f929
1 parent 4d717ef
commit 5c8f929
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Showing 2 changed files with 11 additions and 11 deletions.
diff --git a/src/main/kotlin/frc/team449/robot2024/constants/subsystem/SpinShooterConstants.kt b/src/main/kotlin/frc/team449/robot2024/constants/subsystem/SpinShooterConstants.kt
@@ -15,12 +15,12 @@ object SpinShooterConstants {
   const val SECONDARY_CURRENT_LIMIT = 200.0
   const val BRAKE_MODE = false
 
-  val SUBWOOFER_LEFT_SPEED = Units.rotationsPerMinuteToRadiansPerSecond(2800.0)
-  val SUBWOOFER_RIGHT_SPEED = Units.rotationsPerMinuteToRadiansPerSecond(3450.0)
-  val ANYWHERE_LEFT_SPEED = Units.rotationsPerMinuteToRadiansPerSecond(3850.0)
-  val ANYWHERE_RIGHT_SPEED = Units.rotationsPerMinuteToRadiansPerSecond(4850.0)
-  val PASS_LEFT_SPEED = Units.rotationsPerMinuteToRadiansPerSecond(3500.0)
-  val PASS_RIGHT_SPEED = Units.rotationsPerMinuteToRadiansPerSecond(4500.0)
+  val SUBWOOFER_LEFT_SPEED = Units.rotationsPerMinuteToRadiansPerSecond(3450.0)
+  val SUBWOOFER_RIGHT_SPEED = Units.rotationsPerMinuteToRadiansPerSecond(2800.0)
+  val ANYWHERE_LEFT_SPEED = Units.rotationsPerMinuteToRadiansPerSecond(4850.0)
+  val ANYWHERE_RIGHT_SPEED = Units.rotationsPerMinuteToRadiansPerSecond(3850.0)
+  val PASS_LEFT_SPEED = Units.rotationsPerMinuteToRadiansPerSecond(4500.0)
+  val PASS_RIGHT_SPEED = Units.rotationsPerMinuteToRadiansPerSecond(3500.0)
   val AMP_SPEED = Units.rotationsPerMinuteToRadiansPerSecond(1800.0)
   val OUTTAKE_SPEED = Units.rotationsPerMinuteToRadiansPerSecond(-200.0)
 

diff --git a/src/main/kotlin/frc/team449/robot2024/subsystems/shooter/SpinShooter.kt b/src/main/kotlin/frc/team449/robot2024/subsystems/shooter/SpinShooter.kt
@@ -185,8 +185,8 @@ open class SpinShooter(
   fun shootSubwoofer(): Command {
     val cmd = this.run {
       shootPiece(
-        SpinShooterConstants.SUBWOOFER_RIGHT_SPEED,
-        SpinShooterConstants.SUBWOOFER_LEFT_SPEED
+        SpinShooterConstants.SUBWOOFER_LEFT_SPEED,
+        SpinShooterConstants.SUBWOOFER_RIGHT_SPEED
       )
     }
     cmd.name = "shooting subwoofer"
@@ -461,7 +461,7 @@ open class SpinShooter(
     return cmd
   }
 
-  fun shootPiece(rightSpeed: Double, leftSpeed: Double) {
+  fun shootPiece(leftSpeed: Double, rightSpeed: Double) {
     if (DriverStation.isDisabled()) {
       correct()
     } else {
@@ -525,8 +525,8 @@ open class SpinShooter(
       },
       this.run {
         shootPiece(
-          rightRateLimiter.calculate(0.0),
-          leftRateLimiter.calculate(0.0)
+          leftRateLimiter.calculate(0.0),
+          rightRateLimiter.calculate(0.0)
         )
       }.until {
         abs(leftVelocity.get()) < SpinShooterConstants.MIN_COAST_VEL &&