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Added a tunable dashboard value for the feeder speed. #79

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Added a tunable dashboard value for the feeder speed. #79

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10057c4
Added the LoggedTunableNumber.
The-Cool-Python-Guy Feb 20, 2026
6907eac
Merge branch 'main' into RM_AddedDashboardNumber_for_FeederSubsystem
The-Cool-Python-Guy Feb 20, 2026
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5 changes: 4 additions & 1 deletion src/main/java/frc/robot/commands/feeder/SpinFeeder.java
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Original file line number Diff line number Diff line change
Expand Up @@ -6,16 +6,19 @@
import frc.robot.subsystems.IntakeSubsystem;
import frc.robot.utils.logging.TimeoutLogger;
import frc.robot.utils.logging.commands.LoggableCommand;
import frc.robot.utils.logging.LoggedTunableNumber;

public class SpinFeeder extends LoggableCommand {

private final FeederSubsystem subsystem;
private final Timer timer;
private LoggedTunableNumber tunableSpeed;

public SpinFeeder(FeederSubsystem subsystem) {
this.subsystem = subsystem;
timer = new Timer();
addRequirements(subsystem);
tunableSpeed = new LoggedTunableNumber(FeederSubsystem.LOGGING_NAME, Constants.FEEDER_SPEED);
}

@Override
Expand All @@ -25,7 +28,7 @@ public void initialize() {

@Override
public void execute() {
subsystem.setSpeed(Constants.FEEDER_SPEED);
subsystem.setSpeed(tunableSpeed.getAsDouble());
}

@Override
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