From 4f193cbf8f13dfef28e266f8c0d8e032ef72b304 Mon Sep 17 00:00:00 2001
From: 2491NoMythic <2491nomythic@gmail.com>
Date: Wed, 1 May 2024 18:50:59 -0500
Subject: [PATCH] fix big power draw when source intaking by defaulting to PID
 loop

---
 src/main/java/frc/robot/subsystems/ShooterSubsystem.java | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
index d56d249c..a6f0401f 100644
--- a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
@@ -203,6 +203,7 @@ private static int updateIsReving(int revState, double targetSpeed, double speed
     double revDownEn = -10;
     double revDownDis = 2;
     double difference = targetSpeed - speed;
+    SmartDashboard.putNumber("SHOOTER/desired speed difference", difference);
     if (difference>revUpEn){
       revState = 1;
     } else if (difference<revDownEn && targetSpeed<10){
@@ -220,6 +221,8 @@ private static void updateMotor(TalonFX shooterMotor, int revState, double targe
     shooterMotor.getConfigurator().apply(currentLimits);
     if(targetSpeed == 0) {
       shooterMotor.set(0);
+    } else if(targetSpeed<0) {
+      shooterMotor.setControl(new VelocityDutyCycle(targetSpeed).withSlot(0));
     } else if (revState != 0) {
       shooterMotor.set(revState);
     } else {