change set target velocity to set target percent in Shooter.java and …

…add set target percent to Neo.java
Patribots4738 · Jan 27, 2024 · 61c9323 · 61c9323
1 parent b4081e9
commit 61c9323
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Showing 2 changed files with 2 additions and 3 deletions.
diff --git a/src/main/java/frc/robot/subsystems/Shooter.java b/src/main/java/frc/robot/subsystems/Shooter.java
@@ -55,8 +55,7 @@ public Command shoot(Pose2d position, boolean shootingAtSpeaker) {
         SpeedAnglePair pair = calculateSpeed(position, shootingAtSpeaker);
         return runOnce(() -> motorLeft.setTargetPercent(1));
     }
-     //TODO: ask how line 54-56 will translate to a percent
-    //TODO: change terget velocity to target percent
+    //TODO: change target velocity to target percent
     public Command stop() {
         return runOnce(() -> motorLeft.setTargetPercent(0));
     }

diff --git a/src/main/java/frc/robot/util/Neo.java b/src/main/java/frc/robot/util/Neo.java
@@ -109,7 +109,7 @@ public void setTargetPercent(double percent, int slot) {
         if (percent == 0) {
             setVoltage(0);
         } else {
-            setTargetVelocity((Math.abs(percent * RobotController.getBatteryVoltage())));
+            pidController.setReference(percent, ControlType.kDutyCycle);
         }
         targetPercent = percent;
         controlType = ControlLoopType.PERCENT;