updated mannual control to voltage

Author: SiPi1

src/main/java/frc/robot/subsystems/shooter/Shooter.java

@@ -10,9 +10,9 @@
 
 import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
-import com.ctre.phoenix6.controls.DutyCycleOut;
 import com.ctre.phoenix6.controls.NeutralOut;
 import com.ctre.phoenix6.controls.VelocityVoltage;
+import com.ctre.phoenix6.controls.VoltageOut;
 import com.ctre.phoenix6.hardware.TalonFX;
 import com.ctre.phoenix6.signals.InvertedValue;
 import edu.wpi.first.math.geometry.Rotation3d;
@@ -39,7 +39,7 @@ public class Shooter extends SubsystemBase {
 
   VelocityVoltage velocityVoltage = new VelocityVoltage(0).withSlot(0);
   // VelocityTorqueCurrentFOC velocityTorque = new VelocityTorqueCurrentFOC(0).withSlot(1);
-  DutyCycleOut dutyCycle = new DutyCycleOut(0);
+  VoltageOut voltage = new VoltageOut(12 * 0.3);
   NeutralOut brake = new NeutralOut();
 
   CurrentLimitsConfigs currentLimits = new CurrentLimitsConfigs();
@@ -68,6 +68,9 @@ public Shooter() {
     tryUntilOk(5, () -> flywheel.getConfigurator().apply(currentLimits));
 
     SmartDashboard.putNumber("Shooter/Target RPS", 0.0);
+    SmartDashboard.putNumber("Shooter/Flywheel/Voltage", flywheel.getMotorVoltage().getValueAsDouble());
+    SmartDashboard.putNumber("Shooter/Flywheel/Current", flywheel.getStatorCurrent().getValueAsDouble());
+
   }
 
   public void intake() {} // for sim
@@ -226,13 +229,6 @@ public Command flywheelCMD(Supplier<Translation2d> distance) {
         () -> {
           targetRPS = calculateRR(distance.get());
           flywheel.setControl(velocityVoltage.withVelocity(targetRPS));
-          SmartDashboard.putNumber(
-              "Shooter/Flywheel/Voltage", flywheel.getMotorVoltage().getValueAsDouble());
-          SmartDashboard.putNumber(
-              "Shooter/Flywheel/Current", flywheel.getStatorCurrent().getValueAsDouble());
-          SmartDashboard.putNumber("Shooter/Target RPS", targetRPS);
-          SmartDashboard.putNumber(
-              "Shooter/Flywheel RPS", flywheel.getVelocity().getValueAsDouble());
           SmartDashboard.putNumber("Shooter/Distance", distance.get().getX());
         },
         this);
@@ -243,13 +239,6 @@ public Command flywheelGndCMD(DoubleSupplier distance) {
         () -> {
           targetRPS = calculateRRGround(distance.getAsDouble());
           flywheel.setControl(velocityVoltage.withVelocity(targetRPS));
-          SmartDashboard.putNumber(
-              "Shooter/Flywheel/Voltage", flywheel.getMotorVoltage().getValueAsDouble());
-          SmartDashboard.putNumber(
-              "Shooter/Flywheel/Current", flywheel.getStatorCurrent().getValueAsDouble());
-          SmartDashboard.putNumber("Shooter/Target RPS", targetRPS);
-          SmartDashboard.putNumber(
-              "Shooter/Flywheel RPS", flywheel.getVelocity().getValueAsDouble());
           SmartDashboard.putNumber("Shooter/Distance", distance.getAsDouble());
         },
         this);
@@ -260,13 +249,6 @@ public Command flywheelHubCMD(DoubleSupplier distance) {
         () -> {
           targetRPS = calculateRRHub(distance.getAsDouble());
           flywheel.setControl(velocityVoltage.withVelocity(targetRPS));
-          SmartDashboard.putNumber(
-              "Shooter/Flywheel/Voltage", flywheel.getMotorVoltage().getValueAsDouble());
-          SmartDashboard.putNumber(
-              "Shooter/Flywheel/Current", flywheel.getStatorCurrent().getValueAsDouble());
-          SmartDashboard.putNumber("Shooter/Target RPS", targetRPS);
-          SmartDashboard.putNumber(
-              "Shooter/Flywheel RPS", flywheel.getVelocity().getValueAsDouble());
           SmartDashboard.putNumber("Shooter/Distance", distance.getAsDouble());
         },
         this);
@@ -275,7 +257,7 @@ public Command flywheelHubCMD(DoubleSupplier distance) {
   public Command rawFlywheelCMD(DoubleSupplier drive) {
     return Commands.run(
         () -> {
-          flywheel.setControl(dutyCycle.withOutput(drive.getAsDouble()));
+          flywheel.setControl(voltage.withOutput(drive.getAsDouble() * 4));
         },
         this);
   }
@@ -288,6 +270,17 @@ public Command stopCMD() {
         this);
   }
 
+  @Override
+  public void periodic() {
+    SmartDashboard.putNumber(
+              "Shooter/Flywheel/Voltage", flywheel.getMotorVoltage().getValueAsDouble());
+          SmartDashboard.putNumber(
+              "Shooter/Flywheel/Current", flywheel.getStatorCurrent().getValueAsDouble());
+          SmartDashboard.putNumber("Shooter/Target RPS", targetRPS);
+          SmartDashboard.putNumber(
+              "Shooter/Flywheel RPS", flywheel.getVelocity().getValueAsDouble());
+  }
+
   @Override
   public void simulationPeriodic() {
     SmartDashboard.putNumber(
@@ -297,9 +290,4 @@ public void simulationPeriodic() {
     SmartDashboard.putNumber("Shooter/Target RPS", targetRPS);
     SmartDashboard.putNumber("Shooter/Flywheel RPS", flywheel.getVelocity().getValueAsDouble());
   }
-
-  public Command flywheelHubCMD(Object object) {
-    // TODO Auto-generated method stub
-    throw new UnsupportedOperationException("Unimplemented method 'flywheelHubCMD'");
-  }
 }