Team4388/2022NoWayHome
1
0
Fork 0
mirror of https://github.com/Team4388/2022NoWayHome.git synced 2026-06-09 08:48:07 -06:00
Code Issues Packages Projects Releases Wiki Activity

asdfghj

Browse Source
This commit is contained in:
Ryan
2022-03-22 17:36:29 -06:00
parent 22e21be7b0
commit 1193a3ecef
1 changed files with 10 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java
+10 -10
View File
@@ -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);