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Finished Debugging Hood

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This commit is contained in:
Abhishrek05
2022-01-26 16:52:20 -07:00
parent b430549b3f
commit 0d98471339
1 changed files with 23 additions and 21 deletions
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src/main/java/frc4388/robot/subsystems/Hood.java
+23 -21
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@@ -4,12 +4,11 @@
package frc4388.robot.subsystems;
import com.revrobotics.CANEncoder;
import com.revrobotics.CANPIDController;
import com.revrobotics.CANSparkMax;
import com.revrobotics.ControlType;
import com.revrobotics.RelativeEncoder;
import com.revrobotics.SparkMaxPIDController;
import com.revrobotics.CANDigitalInput.LimitSwitchPolarity;
import com.revrobotics.SparkMaxLimitSwitch;
import com.revrobotics.CANSparkMax.ControlType;
import com.revrobotics.CANSparkMax.IdleMode;
import com.revrobotics.CANSparkMax.SoftLimitDirection;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
@@ -22,25 +21,28 @@ import frc4388.utility.Gains;
public class Hood extends SubsystemBase {
public BoomBoom m_shooterSubsystem;
public CANSparkMax m_angleAdjustMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless);
public CANSparkMax m_angleAdjusterMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless);
public SparkMaxLimitSwitch m_hoodUpLimitSwitch;
public SparkMaxLimitSwitch m_hoodDownLimitSwitch;
public static Gains m_angleAdjusterGains = ShooterConstants.SHOOTER_ANGLE_GAINS;
public RelativeEncoder m_angleEncoder = m_angleAdjusterMotor.getEncoder();
public SparkMaxPIDController m_angleAdjusterPIDController = m_angleAdjusterMotor.getPIDController();
public static Gains m_angleGains = ShooterConstants.SHOOTER_ANGLE_GAINS;
public CANEncoder m_angleEncoder = m_angleAdjustMotor.getEncoder();
public SparkMaxPIDController m_angleAdjustPIDController = m_angleAdjustMotor.getPIDController();
public boolean m_isHoodReady = false;
//public boolean m_isHoodReady = false;
public double m_fireAngle;
/** Creates a new Hood. */
public Hood() {
m_angleAdjusterMotor.setIdleMode(IdleMode.kBrake);
m_angleAdjusterMotor.setIdleMode(IdleMode.kBrake);
m_hoodUpLimit = m_angleAdjusterMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
m_hoodDownLimit = m_angleAdjusterMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
m_hoodUpLimit.enableLimitSwitch(true);
m_hoodDownLimit.enableLimitSwitch(true);
m_hoodUpLimitSwitch = m_angleAdjusterMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_hoodDownLimitSwitch = m_angleAdjusterMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_hoodUpLimitSwitch.enableLimitSwitch(true);
m_hoodDownLimitSwitch.enableLimitSwitch(true);
}
@@ -51,14 +53,14 @@ public double m_fireAngle;
public void runAngleAdjustPID(double targetAngle)
{
//Set PID Coefficients
m_angleAdjustPIDController.setP(m_angleAdjusterGains.m_kP);
m_angleAdjustPIDController.setI(m_angleAdjusterGains.m_kI);
m_angleAdjusterPIDController.setP(m_angleAdjusterGains.m_kP);
m_angleAdjusterPIDController.setI(m_angleAdjusterGains.m_kI);
m_angleAdjusterPIDController.setD(m_angleAdjusterGains.m_kD);
m_angleAdjusterPIDController.setIZone(m_angleAdjustGains.m_IZone);
m_angleAdjusterPIDController.setFF(m_angleAdjustGains.m_kF);
m_angleAdjusterPIDController.setIZone(m_angleAdjusterGains.m_kIzone);
m_angleAdjusterPIDController.setFF(m_angleAdjusterGains.m_kF);
m_angleAdjusterPIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_angleAdjusterGains.m_kPeakOutput);
m_angleAdjustPIDController.setReference(targetAngle, ControlType.kPosition);
m_angleAdjusterPIDController.setReference(targetAngle, ControlType.kPosition);
}