zylan's zilly zoofy zanges

grt192 · Apr 5, 2024 · 1ace1e2 · 1ace1e2
1 parent 52ce7f0
commit 1ace1e2
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterFlywheelSubsystem.java b/src/main/java/frc/robot/subsystems/shooter/ShooterFlywheelSubsystem.java
@@ -177,7 +177,7 @@ public boolean atSpeed() {
      * @return The splined top motor speed.
      */
     public double getTopMotorSplineSpeed() {
-        return topFlywheelSpline.value(getShootingDistance());
+        return topFlywheelSpline.value(MathUtil.clamp(getShootingDistance(), ShooterConstants.MIN_SHOOTER_DISTANCE, ShooterConstants.MAX_SHOOTER_DISTANCE));
     }
 
     /**
@@ -186,7 +186,7 @@ public double getTopMotorSplineSpeed() {
      * @return The spline bottom motor speed.
      */
     public double getBottomMotorSplineSpeed() {
-        return bottomFlywheelSpline.value(getShootingDistance());
+        return bottomFlywheelSpline.value(MathUtil.clamp(getShootingDistance(), ShooterConstants.MIN_SHOOTER_DISTANCE, ShooterConstants.MAX_SHOOTER_DISTANCE));
     }
 
     /**

diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterPivotSubsystem.java b/src/main/java/frc/robot/subsystems/shooter/ShooterPivotSubsystem.java
@@ -160,7 +160,7 @@ public double getAutoAimAngle() {
         //     + " Set angle: " + GRTUtil.twoDecimals(Units.radiansToDegrees(angleSpline.value(currentDistance)))
         //     + " Current angle: " + GRTUtil.twoDecimals(Units.radiansToDegrees(rotationEncoder.getPosition())));
 
-        return angleSpline.value(getShootingDistance());
+        return angleSpline.value(MathUtil.clamp(getShootingDistance(), ShooterConstants.MIN_SHOOTER_DISTANCE, ShooterConstants.MAX_SHOOTER_DISTANCE));
     }
 
     /** Gets position of encoder. */