From 1193a3ecefbc433e571953baabf40ff8a773b9df Mon Sep 17 00:00:00 2001 From: Ryan Date: Tue, 22 Mar 2022 17:36:29 -0600 Subject: [PATCH] asdfghj --- .../commands/ShooterCommands/TrackTarget.java | 20 +++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java b/src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java index 3c6dc57..0428899 100644 --- a/src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java +++ b/src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java @@ -97,22 +97,22 @@ public class TrackTarget extends CommandBase { output *= 2.0; m_turret.runTurretWithInput(output); - double position = m_turret.m_boomBoomRotateEncoder.getPosition(); + // double position = m_turret.m_boomBoomRotateEncoder.getPosition(); - if(Math.abs(position - ShooterConstants.TURRET_FORWARD_SOFT_LIMIT) < 5 || - Math.abs(position - ShooterConstants.TURRET_REVERSE_SOFT_LIMIT) < 5) - m_swerve.driveWithInput(RobotContainer.getDriverController().getLeftX(), RobotContainer.getDriverController().getLeftY(), output, true); - else - m_swerve.driveWithInput(RobotContainer.getDriverController().getLeftX(), RobotContainer.getDriverController().getLeftY(), - RobotContainer.getDriverController().getRightX(), RobotContainer.getDriverController().getRightY(), - true); + // if(Math.abs(position - ShooterConstants.TURRET_FORWARD_SOFT_LIMIT) < 5 || + // Math.abs(position - ShooterConstants.TURRET_REVERSE_SOFT_LIMIT) < 5) + // m_swerve.driveWithInput(RobotContainer.getDriverController().getLeftX(), RobotContainer.getDriverController().getLeftY(), output, true); + // else + // m_swerve.driveWithInput(RobotContainer.getDriverController().getLeftX(), RobotContainer.getDriverController().getLeftY(), + // RobotContainer.getDriverController().getRightX(), RobotContainer.getDriverController().getRightY(), + // true); double regressedDistance = getDistance(average.y); // ! no longer a +30 lol -aarav - velocity = m_boomBoom.getVelocity(regressedDistance + 30); - hoodPosition = m_boomBoom.getHood(regressedDistance + 30); + velocity = m_boomBoom.getVelocity(regressedDistance); + hoodPosition = m_boomBoom.getHood(regressedDistance); m_boomBoom.runDrumShooterVelocityPID(velocity); m_hood.runAngleAdjustPID(hoodPosition);