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changed track target reqs + started extender command

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This commit is contained in:
Ryan Manley
2022-03-14 12:16:32 -06:00
parent 4c758f9962
commit 0315104ee8
6 changed files with 71 additions and 18 deletions
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src/main/java/frc4388/robot/commands/TrackTarget.java
+3 -4
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@@ -23,7 +23,6 @@ import frc4388.utility.DesmosServer;
public class TrackTarget extends CommandBase {
/** Creates a new TrackTarget. */
Turret m_turret;
SwerveDrive m_drive;
VisionOdometry m_visionOdometry;
BoomBoom m_boomBoom;
Hood m_hood;
@@ -45,15 +44,14 @@ public class TrackTarget extends CommandBase {
// public static Gains m_aimGains;
public TrackTarget (Turret turret, BoomBoom boomBoom, Hood hood, SwerveDrive drive, VisionOdometry visionOdometry) {
public TrackTarget (Turret turret, BoomBoom boomBoom, Hood hood, VisionOdometry visionOdometry) {
// Use addRequirements() here to declare subsystem dependencies.
m_turret = turret;
m_drive = drive;
m_boomBoom = boomBoom;
m_hood = hood;
m_visionOdometry = visionOdometry;
addRequirements(m_turret, m_boomBoom, m_hood, m_drive, m_visionOdometry);
addRequirements(m_turret, m_boomBoom, m_hood, m_visionOdometry);
}
// Called when the command is initially scheduled.
@@ -102,6 +100,7 @@ public class TrackTarget extends CommandBase {
}
catch (Exception e){
e.printStackTrace();
m_turret.runshooterRotatePID(180);
// System.err.println("Exception: " + e.toString() + ", Line 78 at TrackTarget.java");
}
// vel = m_boomBoom.getVelocity(distance);