Made Transfer Use VelocityVoltage#508
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Vilok1
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Apr 1, 2026
Vilok1
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Your kV should be a configuration, not a static feedforward. Also why are we naming the variable kV feedforward again lol
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Also your kV value still doesn't make sense mathematically to me. Maybe test on robot before merging |
Zane-122
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Apr 3, 2026
| public Command indexCommand(DoubleSupplier spindexerPower, DoubleSupplier transferPower) { | ||
| return new StartEndCommand(() -> setPower(spindexerPower.getAsDouble(), transferPower.getAsDouble()), this::stop); | ||
| public Command indexCommand(DoubleSupplier spindexerPower, DoubleSupplier transferVelocity) { | ||
| return new StartEndCommand(() -> setPower(spindexerPower.getAsDouble(), transferVelocity.getAsDouble()), this::stop); |
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Is this not just setting the duty cycle still? setPower() still calls setTransferPower which calls the duty cycle.
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