fix: coralShooter

inverted 的參數有誤漏加 powerDistribution
Team6083 · Feb 12, 2025 · fcc2d99 · fcc2d99
1 parent cae27f8
commit fcc2d99
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Showing 2 changed files with 9 additions and 3 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -8,7 +8,8 @@ public static final class CoralShooterConstant {
     public static final int kShooterRightMotorChannel = 2;
     public static final double kShooterMotorFastSpeed = 4;
     public static final double kShooterMotorSlowSpeed = 4;
-    public static final Boolean kCoralShooterMotorInverted = false;
+    public static final Boolean kCoralShooterRightMotorInverted = false;
+    public static final Boolean kCoralShooterLeftMotorInverted = false;
   }
 
   public static final class PowerDistributionConstant {

diff --git a/src/main/java/frc/robot/subsystems/CoralShooterSubsystem.java b/src/main/java/frc/robot/subsystems/CoralShooterSubsystem.java
@@ -29,8 +29,8 @@ public CoralShooterSubsystem(PowerDistribution powerDistribution) {
     coralShooterRightMotor = new VictorSPX(CoralShooterConstant.kShooterRightMotorChannel);
 
     distanceSensor = new DistanceSensor(Port.kOnboard);
-    coralShooterRightMotor.setInverted(CoralShooterConstant.kCoralShooterMotorInverted);
-    coralShooterLeftMotor.setInverted(CoralShooterConstant.kCoralShooterMotorInverted);
+    coralShooterRightMotor.setInverted(CoralShooterConstant.kCoralShooterRightMotorInverted);
+    coralShooterLeftMotor.setInverted(CoralShooterConstant.kCoralShooterLeftMotorInverted);
   }
 
   private void setMotorSpeed(double speed) {
@@ -48,7 +48,12 @@ public void coralShooterFastOn() { // Motor on Fast
   }
 
   public void coralShooterSlowOn() { // Motor on Slow
+    if (powerDistribution.isCoralShooterOverCurrent()) {
+      setMotorSpeed(0);
+      return;
+    }
     setMotorSpeed(CoralShooterConstant.kShooterMotorSlowSpeed);
+    }
   }
 
   public void coralShooterStop() { // Motor stop