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Castor2026
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Voltage Cycle

This commit is contained in:
TheRealGrayden 2026-03-22 15:03:53 -04:00
parent 942606ca1e
commit 4dc406583a
1 changed files with 2 additions and 1 deletions
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3
src/main/java/frc/robot/subsystems/TurretSubsystem.java
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@ -9,6 +9,7 @@ import org.fairportrobotics.frc.posty.TestableSubsystem;
import com.ctre.phoenix6.controls.ControlRequest; import com.ctre.phoenix6.controls.ControlRequest;
import com.ctre.phoenix6.controls.DutyCycleOut; import com.ctre.phoenix6.controls.DutyCycleOut;
import com.ctre.phoenix6.controls.PositionDutyCycle; import com.ctre.phoenix6.controls.PositionDutyCycle;
import com.ctre.phoenix6.controls.PositionVoltage;
import com.ctre.phoenix6.controls.VelocityDutyCycle; import com.ctre.phoenix6.controls.VelocityDutyCycle;
import com.ctre.phoenix6.hardware.CANcoder; import com.ctre.phoenix6.hardware.CANcoder;
import com.ctre.phoenix6.hardware.TalonFX; import com.ctre.phoenix6.hardware.TalonFX;
@ -62,7 +63,7 @@ public class TurretSubsystem extends TestableSubsystem {
public void turretControl(double position) public void turretControl(double position)
{ {
turretMotor.setControl(new PositionDutyCycle(position)); turretMotor.setControl(new PositionVoltage(position));
} }
public void setTargetElevation(Angle elev) public void setTargetElevation(Angle elev)