From e150959ec6b2fe2d204f6e2a59547006d25568db Mon Sep 17 00:00:00 2001
From: Reese <caweltireese@gmail.com>
Date: Mon, 22 Jun 2026 20:25:06 -0500
Subject: [PATCH] Added NetParams for Feeder

---
 src/main/java/frc/robot/NetParams.java          |  2 ++
 src/main/java/frc/robot/RobotContainer.java     |  4 ++--
 .../frc/robot/subsystems/shooter/Feeder.java    | 10 +++++++++-
 .../frc/robot/subsystems/shooter/Shooter.java   | 17 ++++++++++++++---
 4 files changed, 27 insertions(+), 6 deletions(-)

diff --git a/src/main/java/frc/robot/NetParams.java b/src/main/java/frc/robot/NetParams.java
index 5e3f39f..3eb0ced 100644
--- a/src/main/java/frc/robot/NetParams.java
+++ b/src/main/java/frc/robot/NetParams.java
@@ -6,8 +6,10 @@ public NetParams()
     {
         turretAngle   = 0;
         flywheelSpeed = 70;
+        feederRate    = 1;
     }
 
     public double turretAngle;
     public double flywheelSpeed;
+    public double feederRate;
 }
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index e463808..e612d0f 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -79,7 +79,7 @@ private void configureBindings()
         // _driver.button(1).whileTrue(Commands.parallel(_shooter.shoot(),
         // Commands.startEnd(() -> _drive.disableVisionPoseCorrection(true), () ->
         // _drive.disableVisionPoseCorrection(false))));
-        _driver.button(1).whileTrue(_shooter.manualShootCmd(() -> _params.flywheelSpeed));
+        _driver.button(1).whileTrue(_shooter.manualShootCmd(() -> _params.flywheelSpeed, () -> _params.feederRate, () -> 1));
         // _driver.button(2).whileTrue(Commands.startEnd(() -> _driveMultiplier =
         // DriveConstants.SLOW_MODE_SCALE, () -> _driveMultiplier =
         // DriveConstants.FULL_SPEED_SCALE));
@@ -102,7 +102,7 @@ private void configureBindings()
         _operator.leftBumper().whileTrue(_intake.runRollersReverse());
         _operator.rightTrigger().whileTrue(_intake.jiggle());
         _operator.a().onTrue(Commands.runOnce(_shooter::stopManualFlywheel));
-        _operator.rightBumper().whileTrue(_shooter.runManualFeeder());
+        _operator.rightBumper().whileTrue(_shooter.runManualFeeder(() -> _params.feederRate, () -> 1));
         _operator.povDown().onTrue(_intake.getRetractCmd());
         _operator.povUp().onTrue(_intake.getExtendCmd());
 
diff --git a/src/main/java/frc/robot/subsystems/shooter/Feeder.java b/src/main/java/frc/robot/subsystems/shooter/Feeder.java
index f2c237f..c36acbf 100644
--- a/src/main/java/frc/robot/subsystems/shooter/Feeder.java
+++ b/src/main/java/frc/robot/subsystems/shooter/Feeder.java
@@ -25,6 +25,7 @@ public class Feeder
     private Voltage         _feederMotorVoltage = Volts.of(0.0);
     @Logged
     private boolean         _enabled            = false;
+    private Voltage         _feederMotorRate    = Volts.of(0);
 
     public Feeder()
     {
@@ -34,6 +35,8 @@ public Feeder()
         config.inverted(false).idleMode(IdleMode.kBrake).smartCurrentLimit((int)ShooterConstants.FEEDER_CURRENT_LIMIT.in(Amps)).voltageCompensation(GeneralConstants.MOTOR_VOLTAGE.in(Volts));
 
         _feederMotor.configure(config, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters);
+
+        _feederMotorRate = ShooterConstants.FEEDER_VOLTAGE;
     }
 
     public void periodic()
@@ -44,10 +47,15 @@ public void periodic()
     public void set(boolean on)
     {
         _enabled = on;
-        Voltage targetVoltage = on ? ShooterConstants.FEEDER_VOLTAGE : Volts.zero();
+        Voltage targetVoltage = on ? _feederMotorRate : Volts.zero();
         _feederMotor.setVoltage(targetVoltage.in(Volts));
     }
 
+    public void setRate(double rate)
+    {
+        _feederMotorRate = GeneralConstants.MOTOR_VOLTAGE.times(rate);
+    }
+
     private class FeederHook extends MotorHook
     {
         @Override
diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
index 7386fc1..2bee180 100644
--- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -156,11 +156,12 @@ public Command setFlywheelVelocity(AngularVelocity velocity)
         });
     }
 
-    public Command runManualFeeder()
+    public Command runManualFeeder(DoubleSupplier rate, DoubleSupplier rotation)
     {
         return startEnd(() ->
         {
             beginManualControl(false);
+            _feeder.setRate(rate.getAsDouble());
             _feeder.set(true);
             setRotorEnabled(true);
         }, () ->
@@ -206,12 +207,17 @@ public Command setTurretAngleCmd(DoubleSupplier angle)
         return runOnce(() -> setManualTurretAngleCommand(Degrees.of(angle.getAsDouble())));
     }
 
-    public Command manualShootCmd(DoubleSupplier speed)
+    public Command setManualFeederRate(DoubleSupplier rate)
+    {
+        return runOnce(() -> setManualFeederCommand(rate.getAsDouble()));
+    }
+
+    public Command manualShootCmd(DoubleSupplier speed, DoubleSupplier rate, DoubleSupplier rotation)
     {
         // @formatter:off
         return Commands.parallel(
             Commands.startEnd(() -> setManualFlywheel(speed.getAsDouble()), () -> stopManualFlywheel()),
-            runManualFeeder()
+            runManualFeeder(rate, rotation)
         );
         // @formatter:on
     }
@@ -352,6 +358,11 @@ private void setManualTurretAngleCommand(Angle angle)
         _turret.setManualAngle(angle);
     }
 
+    private void setManualFeederCommand(double rate)
+    {
+        _feeder.setRate(rate);
+    }
+
     public void stopShooter()
     {
         _state            = ShooterState.Idle;