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velocity correction and shooter tables time

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This commit is contained in:
aarav18
2022-03-12 14:05:33 -07:00
parent 89ba3afb00
commit 032e176efe
6 changed files with 119 additions and 5 deletions
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src/main/java/frc4388/robot/Robot.java
+7
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@@ -25,6 +25,7 @@ import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import edu.wpi.first.wpilibj2.command.RunCommand;
import frc4388.utility.RobotTime;
import frc4388.utility.VelocityCorrection;
/**
* The VM is configured to automatically run this class, and to call the
@@ -150,6 +151,12 @@ public class Robot extends TimedRobot {
// block in order for anything in the Command-based framework to work.
CommandScheduler.getInstance().run();
VelocityCorrection vc = new VelocityCorrection(m_robotContainer.m_robotSwerveDrive, m_robotContainer.m_robotBoomBoom);
System.out.println("Position: " + vc.position);
System.out.println("Velocity: " + vc.cartesianVelocity);
System.out.println("Target: " + vc.target.toString());
//SmartDashboard.putNumber("Turret Encoder Position", m_robotContainer.m_robotTurret.m_boomBoomRotateEncoder.getPosition());
//SmartDashboard.putNumber("Hood Encoder Position", m_robotContainer.m_robotHood.m_angleEncoder.getPosition());