From 11f9b0cba86f82f040275490c04de001217f9e06 Mon Sep 17 00:00:00 2001
From: OakvilleDynamicsProgrammer
<159196208+OakvilleDynamicsProgrammer@users.noreply.github.com>
Date: Sat, 24 Feb 2024 16:08:02 -0800
Subject: [PATCH 1/8] Update Dump Control, sushi speeds
---
src/main/java/frc/robot/Constants.java | 2 +-
src/main/java/frc/robot/commands/DumpControl.java | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 9e8062c..6fde1d9 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -77,7 +77,7 @@ public static class MechanismConstants {
public static final boolean INTAKE_MOTOR_SUSHI_INVERTED = true;
public static final boolean INTAKE_MOTOR_FRONT_INVERTED = false;
public static final double INTAKE_MOTOR_SPEED_FRONT = 0.8;
- public static final double INTAKE_MOTOR_SPEED_SUSHI = 0.8;
+ public static final double INTAKE_MOTOR_SPEED_SUSHI = 1;
// Conveyor Motors
public static final int CONVEYOR_MOTOR_1 = 1;
diff --git a/src/main/java/frc/robot/commands/DumpControl.java b/src/main/java/frc/robot/commands/DumpControl.java
index e801fb8..2bd1d0f 100644
--- a/src/main/java/frc/robot/commands/DumpControl.java
+++ b/src/main/java/frc/robot/commands/DumpControl.java
@@ -31,7 +31,7 @@ public void initialize() {}
public void execute() {
// TODO: Change this to the correct button
if (DumpJoystick.getRawButton(1)) {
- DumpSubsystem.openThenClose();
+ DumpSubsystem.open();
// TODO: Change this to the correct button
} else if (DumpJoystick.getRawButton(2)) {
DumpSubsystem.close();
From b0296443422a2cf7935df53992329b10fc99e7b7 Mon Sep 17 00:00:00 2001
From: OakvilleDynamicsProgrammer
<159196208+OakvilleDynamicsProgrammer@users.noreply.github.com>
Date: Sun, 25 Feb 2024 16:50:19 -0800
Subject: [PATCH 2/8] Update Constants.java
---
src/main/java/frc/robot/Constants.java | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 9e8062c..9e75355 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -76,14 +76,14 @@ public static class MechanismConstants {
public static final int INTAKE_MOTOR_FRONT = 52;
public static final boolean INTAKE_MOTOR_SUSHI_INVERTED = true;
public static final boolean INTAKE_MOTOR_FRONT_INVERTED = false;
- public static final double INTAKE_MOTOR_SPEED_FRONT = 0.8;
+ public static final double INTAKE_MOTOR_SPEED_FRONT = 0.2;
public static final double INTAKE_MOTOR_SPEED_SUSHI = 0.8;
// Conveyor Motors
public static final int CONVEYOR_MOTOR_1 = 1;
public static final int CONVEYOR_MOTOR_2 = 2;
public static final boolean CONVEYOR_MOTOR_1_INVERTED = true;
- public static final boolean CONVEYOR_MOTOR_2_INVERTED = true;
- public static final double CONVEYOR_MOTOR_SPEED = 0.30;
+ public static final boolean CONVEYOR_MOTOR_2_INVERTED = false;
+ public static final double CONVEYOR_MOTOR_SPEED = 0.40;
}
}
From f2873ee993a3628a5bea6d5749edabac46b8998e Mon Sep 17 00:00:00 2001
From: OakvilleDynamicsProgrammer
<159196208+OakvilleDynamicsProgrammer@users.noreply.github.com>
Date: Sun, 25 Feb 2024 19:50:41 -0800
Subject: [PATCH 3/8] Update Constants.java
---
src/main/java/frc/robot/Constants.java | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 9e75355..35ebf46 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -84,6 +84,6 @@ public static class MechanismConstants {
public static final int CONVEYOR_MOTOR_2 = 2;
public static final boolean CONVEYOR_MOTOR_1_INVERTED = true;
public static final boolean CONVEYOR_MOTOR_2_INVERTED = false;
- public static final double CONVEYOR_MOTOR_SPEED = 0.40;
+ public static final double CONVEYOR_MOTOR_SPEED = 0.38;
}
}
From 71f19f5a21c7cb85fbadeca0408d28c241db3588 Mon Sep 17 00:00:00 2001
From: OakvilleDynamicsProgrammer
<159196208+OakvilleDynamicsProgrammer@users.noreply.github.com>
Date: Wed, 28 Feb 2024 19:22:01 -0800
Subject: [PATCH 4/8] make swerve not chatter
make swerve not chatter
---
src/main/deploy/swerve/controllerproperties.json | 4 ++--
src/main/deploy/swerve/modules/backleft.json | 4 ++--
src/main/deploy/swerve/modules/backright.json | 4 ++--
src/main/deploy/swerve/modules/frontleft.json | 4 ++--
src/main/deploy/swerve/modules/frontright.json | 4 ++--
src/main/deploy/swerve/modules/physicalproperties.json | 2 +-
src/main/java/frc/robot/RobotContainer.java | 6 +++---
7 files changed, 14 insertions(+), 14 deletions(-)
diff --git a/src/main/deploy/swerve/controllerproperties.json b/src/main/deploy/swerve/controllerproperties.json
index ab93140..4abb93a 100644
--- a/src/main/deploy/swerve/controllerproperties.json
+++ b/src/main/deploy/swerve/controllerproperties.json
@@ -1,8 +1,8 @@
{
- "angleJoystickRadiusDeadband": 0.25,
+ "angleJoystickRadiusDeadband": 0.05,
"heading": {
"p": 0.4,
"i": 0,
- "d": 0.01
+ "d": 0
}
}
\ No newline at end of file
diff --git a/src/main/deploy/swerve/modules/backleft.json b/src/main/deploy/swerve/modules/backleft.json
index a22a195..187a1ca 100644
--- a/src/main/deploy/swerve/modules/backleft.json
+++ b/src/main/deploy/swerve/modules/backleft.json
@@ -1,7 +1,7 @@
{
"location": {
- "front": -13.5,
- "left": 13.5
+ "front": -11,
+ "left": 11
},
"absoluteEncoderOffset": 276.15234375,
"drive": {
diff --git a/src/main/deploy/swerve/modules/backright.json b/src/main/deploy/swerve/modules/backright.json
index 65decfd..b93f795 100644
--- a/src/main/deploy/swerve/modules/backright.json
+++ b/src/main/deploy/swerve/modules/backright.json
@@ -1,7 +1,7 @@
{
"location": {
- "front": -13.5,
- "left": -13.5
+ "front": -11,
+ "left": -11
},
"absoluteEncoderOffset": 299.267578125,
"drive": {
diff --git a/src/main/deploy/swerve/modules/frontleft.json b/src/main/deploy/swerve/modules/frontleft.json
index 123e6a1..b1b7e96 100644
--- a/src/main/deploy/swerve/modules/frontleft.json
+++ b/src/main/deploy/swerve/modules/frontleft.json
@@ -1,7 +1,7 @@
{
"location": {
- "front": 13.5,
- "left": 13.5
+ "front": 11,
+ "left": 11
},
"absoluteEncoderOffset": 357.978515625,
"drive": {
diff --git a/src/main/deploy/swerve/modules/frontright.json b/src/main/deploy/swerve/modules/frontright.json
index 16efc78..1b99eab 100644
--- a/src/main/deploy/swerve/modules/frontright.json
+++ b/src/main/deploy/swerve/modules/frontright.json
@@ -1,7 +1,7 @@
{
"location": {
- "front": 13.5,
- "left": -13.5
+ "front": 11,
+ "left": -11
},
"absoluteEncoderOffset": 52.91015625,
"drive": {
diff --git a/src/main/deploy/swerve/modules/physicalproperties.json b/src/main/deploy/swerve/modules/physicalproperties.json
index dfb4be5..b2d3972 100644
--- a/src/main/deploy/swerve/modules/physicalproperties.json
+++ b/src/main/deploy/swerve/modules/physicalproperties.json
@@ -11,6 +11,6 @@
},
"rampRate": {
"drive": 0.25,
- "angle": 0.25
+ "angle": 0
}
}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index efc0c2b..fbdb906 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -61,7 +61,7 @@ public RobotContainer() {
// Configure the trigger bindings
configureBindings();
- AbsoluteDriveAdv closedAbsoluteDriveAdv =
+ final AbsoluteDriveAdv closedAbsoluteDriveAdv =
new AbsoluteDriveAdv(
drivebase,
() -> MathUtil.applyDeadband(driverXbox.getLeftY(), OperatorConstants.LEFT_Y_DEADBAND),
@@ -94,7 +94,7 @@ public RobotContainer() {
drivebase.driveCommand(
() -> MathUtil.applyDeadband(driverXbox.getLeftY(), OperatorConstants.LEFT_Y_DEADBAND),
() -> MathUtil.applyDeadband(driverXbox.getLeftX(), OperatorConstants.LEFT_X_DEADBAND),
- () -> driverXbox.getRawAxis(2));
+ () -> driverXbox.getRightX() * 0.5);
Command driveFieldOrientedDirectAngleSim =
drivebase.simDriveCommand(
@@ -102,7 +102,7 @@ public RobotContainer() {
() -> MathUtil.applyDeadband(driverXbox.getLeftX(), OperatorConstants.LEFT_X_DEADBAND),
() -> driverXbox.getRawAxis(2));
- drivebase.setDefaultCommand(closedAbsoluteDriveAdv);
+ drivebase.setDefaultCommand(driveFieldOrientedAnglularVelocity);
}
/**
From c34ade460fbca566f727645f46d4292cb20903ac Mon Sep 17 00:00:00 2001
From: Garrett Summerfield <garrettsummerfi3ld@gmail.com>
Date: Thu, 29 Feb 2024 23:10:39 -0600
Subject: [PATCH 5/8] Update swerve controls
Updated swerve controls to use field oriented with directed angle.
---
src/main/java/frc/robot/RobotContainer.java | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index fbdb906..efd4b48 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -102,7 +102,7 @@ public RobotContainer() {
() -> MathUtil.applyDeadband(driverXbox.getLeftX(), OperatorConstants.LEFT_X_DEADBAND),
() -> driverXbox.getRawAxis(2));
- drivebase.setDefaultCommand(driveFieldOrientedAnglularVelocity);
+ drivebase.setDefaultCommand(driveFieldOrientedDirectAngle);
}
/**
From 82c0640d41e4ecc9c98ecee6ca2e471e835eecf8 Mon Sep 17 00:00:00 2001
From: OakvilleDynamicsProgrammer
<159196208+OakvilleDynamicsProgrammer@users.noreply.github.com>
Date: Sun, 3 Mar 2024 19:12:39 -0600
Subject: [PATCH 6/8] Revert IMU back to normal operations
---
src/main/deploy/swerve/swervedrive.json | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/main/deploy/swerve/swervedrive.json b/src/main/deploy/swerve/swervedrive.json
index dce981d..da97274 100644
--- a/src/main/deploy/swerve/swervedrive.json
+++ b/src/main/deploy/swerve/swervedrive.json
@@ -4,7 +4,7 @@
"id": 0,
"canbus": null
},
- "invertedIMU": true,
+ "invertedIMU": false,
"modules": [
"frontleft.json",
"frontright.json",
From 32b7e6d6465970c4acfb0ed2e5db7b35668918b5 Mon Sep 17 00:00:00 2001
From: OakvilleDynamicsProgramer
<159196208+OakvilleDynamicsProgrammer@users.noreply.github.com>
Date: Tue, 5 Mar 2024 17:03:28 -0600
Subject: [PATCH 7/8] Add flywheels
---
src/main/java/frc/robot/Constants.java | 7 +++
src/main/java/frc/robot/RobotContainer.java | 4 ++
.../java/frc/robot/commands/FlyWCommand.java | 49 +++++++++++++++++++
.../java/frc/robot/subsystems/FlyWheel.java | 47 ++++++++++++++++++
4 files changed, 107 insertions(+)
create mode 100644 src/main/java/frc/robot/commands/FlyWCommand.java
create mode 100644 src/main/java/frc/robot/subsystems/FlyWheel.java
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 35ebf46..75869bb 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -85,5 +85,12 @@ public static class MechanismConstants {
public static final boolean CONVEYOR_MOTOR_1_INVERTED = true;
public static final boolean CONVEYOR_MOTOR_2_INVERTED = false;
public static final double CONVEYOR_MOTOR_SPEED = 0.38;
+
+ // Flywheel Motors
+ public static final int FLYWHEEL_MOTOR_1 = 3;
+ 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;
}
}
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index efd4b48..63d50f6 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -20,10 +20,12 @@
import frc.robot.Constants.OperatorConstants;
import frc.robot.commands.ConveyorCommand;
import frc.robot.commands.DumpControl;
+import frc.robot.commands.FlyWCommand;
import frc.robot.commands.IntakeCommand;
import frc.robot.commands.swervedrive.drivebase.AbsoluteDriveAdv;
import frc.robot.subsystems.Conveyor;
import frc.robot.subsystems.Dump;
+import frc.robot.subsystems.FlyWheel;
import frc.robot.subsystems.Intake;
import frc.robot.subsystems.swervedrive.SwerveSubsystem;
import java.io.File;
@@ -50,6 +52,7 @@ public class RobotContainer {
private final Intake intake = new Intake();
private final Dump dump = new Dump();
private final Conveyor conveyor = new Conveyor();
+ private final FlyWheel flyWheel = new FlyWheel();
/** The container for the robot. Contains subsystems, OI devices, and commands. */
public RobotContainer() {
@@ -57,6 +60,7 @@ public RobotContainer() {
intake.setDefaultCommand(new IntakeCommand(intake));
dump.setDefaultCommand(new DumpControl(dump));
conveyor.setDefaultCommand(new ConveyorCommand(conveyor));
+ flyWheel.setDefaultCommand(new FlyWCommand(flyWheel));
// Configure the trigger bindings
configureBindings();
diff --git a/src/main/java/frc/robot/commands/FlyWCommand.java b/src/main/java/frc/robot/commands/FlyWCommand.java
new file mode 100644
index 0000000..7dde141
--- /dev/null
+++ b/src/main/java/frc/robot/commands/FlyWCommand.java
@@ -0,0 +1,49 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.FlyWheel;
+
+public class FlyWCommand extends Command {
+ private final FlyWheel m_FlyWSubsystem;
+ // controller
+ // TODO: Change this to the correct controller
+ private final Joystick ConveyorJoystick = new Joystick(1);
+
+ public FlyWCommand(FlyWheel subsystem) {
+ m_FlyWSubsystem = subsystem;
+ addRequirements(m_FlyWSubsystem);
+ }
+
+ @Override
+ public void initialize() {}
+
+ @Override
+ public void execute() {
+ // TODO: Change this to the correct button
+ if (ConveyorJoystick.getRawButton(3) == true) {
+ m_FlyWSubsystem.enableflywheel();
+ // TODO: Change this to the correct button
+ } else if (ConveyorJoystick.getRawButton(4) == true) {
+ m_FlyWSubsystem.reverseflywheel();
+ System.out.println("Conveyor Moving in Reverse");
+ } else {
+ m_FlyWSubsystem.disableflywheel();
+ }
+ }
+
+ @Override
+ public void end(boolean interrupted) {
+ m_FlyWSubsystem.disableflywheel();
+ m_FlyWSubsystem.enableflywheel();
+ }
+
+ @Override
+ public boolean isFinished() {
+ return false;
+ }
+}
diff --git a/src/main/java/frc/robot/subsystems/FlyWheel.java b/src/main/java/frc/robot/subsystems/FlyWheel.java
new file mode 100644
index 0000000..2ee2530
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/FlyWheel.java
@@ -0,0 +1,47 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.subsystems;
+
+import com.revrobotics.CANSparkLowLevel;
+import com.revrobotics.CANSparkMax;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants.MechanismConstants;
+
+public class FlyWheel extends SubsystemBase {
+
+ private final CANSparkMax flywheelMotor1 =
+ new CANSparkMax(MechanismConstants.FLYWHEEL_MOTOR_1, CANSparkLowLevel.MotorType.kBrushless);
+ private final CANSparkMax flywheelMotor2 =
+ new CANSparkMax(MechanismConstants.FLYWHEEL_MOTOR_2, CANSparkLowLevel.MotorType.kBrushless);
+
+ /** Creates a new flywheel. */
+ public FlyWheel() {
+ flywheelMotor1.setInverted(MechanismConstants.FLYWHEEL_MOTOR_1_INVERTED);
+ flywheelMotor2.setInverted(MechanismConstants.FLYWHEEL_MOTOR_2_INVERTED);
+ }
+
+ /** Sets the flywheel motors to 100% power. */
+ public void enableflywheel() {
+ flywheelMotor1.set(MechanismConstants.FLYWHEEL_MOTOR_SPEED);
+ flywheelMotor2.set(MechanismConstants.FLYWHEEL_MOTOR_SPEED);
+ }
+
+ /** Sets the flywheel motors to 0% power. */
+ public void disableflywheel() {
+ flywheelMotor1.set(0);
+ flywheelMotor2.set(0);
+ }
+
+ /** Sets the flywheel motors to -100% power. (Reverse direction) */
+ public void reverseflywheel() {
+ flywheelMotor1.set(-MechanismConstants.FLYWHEEL_MOTOR_SPEED);
+ flywheelMotor2.set(-MechanismConstants.FLYWHEEL_MOTOR_SPEED);
+ }
+
+ @Override
+ public void periodic() {
+ // This method will be called once per scheduler run
+ }
+}
From 624c997981376a265ce6fea8348657213cccd33d Mon Sep 17 00:00:00 2001
From: OakvilleDynamicsProgramer
<159196208+OakvilleDynamicsProgrammer@users.noreply.github.com>
Date: Tue, 5 Mar 2024 19:04:06 -0600
Subject: [PATCH 8/8] Update flywheel speeds
---
src/main/java/frc/robot/Constants.java | 3 ++-
src/main/java/frc/robot/commands/FlyWCommand.java | 9 +++++----
src/main/java/frc/robot/subsystems/FlyWheel.java | 12 +++++++++---
3 files changed, 16 insertions(+), 8 deletions(-)
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 75869bb..c9984f1 100644
--- 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
index 7dde141..a2e1d0e 100644
--- 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
index 2ee2530..df05dae 100644
--- 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