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aarav18
2022-03-01 18:56:07 -07:00
parent fab2e1e863
commit 24aaeb33f7
1 changed files with 5 additions and 3 deletions
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src/main/java/frc4388/robot/commands/Shoot.java
+5 -3
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@@ -86,15 +86,16 @@ public class Shoot extends CommandBase {
m_targetAngle = ((Math.atan2(m_odoY, m_odoX) * (180./Math.PI) - m_gyroAngle) + 180. + 360.) % 360.; m_targetAngle = ((Math.atan2(m_odoY, m_odoX) * (180./Math.PI) - m_gyroAngle) + 180. + 360.) % 360.;
m_driveTargetAngle = m_swerve.getRegGyro().getDegrees(); m_driveTargetAngle = m_swerve.getRegGyro().getDegrees();
// deadzone processing
if (AimToCenter.isHardwareDeadzone(m_targetAngle)) { if (AimToCenter.isHardwareDeadzone(m_targetAngle)) {
m_targetAngle = m_targetAngle + 20; m_targetAngle = m_targetAngle + 20;
} }
if (AimToCenter.isDigitalDeadzone(m_targetAngle)) { if (AimToCenter.isDigitalDeadzone(m_targetAngle)) {
// this should rotate the entire swerve drive by 20 degrees, so shoot can now proceed like normal. idk if this will work
m_swerve.driveWithInput(0, 0, Math.cos(m_driveTargetAngle + 20), Math.sin(m_driveTargetAngle + 20), true); m_swerve.driveWithInput(0, 0, Math.cos(m_driveTargetAngle + 20), Math.sin(m_driveTargetAngle + 20), true);
} }
// // normal (i think) PID stuff // // normal (i think) PID stuff
// dummyConfiguration.primaryPID.selectedFeedbackSensor = TalonFXFeedbackDevice.IntegratedSensor.toFeedbackDevice(); // dummyConfiguration.primaryPID.selectedFeedbackSensor = TalonFXFeedbackDevice.IntegratedSensor.toFeedbackDevice();
// dummyConfiguration.remoteFilter0.remoteSensorDeviceID = dummy.getDeviceID(); // dummyConfiguration.remoteFilter0.remoteSensorDeviceID = dummy.getDeviceID();
@@ -147,7 +148,8 @@ public class Shoot extends CommandBase {
// custom pid // custom pid
runPID(); runPID();
m_swerve.driveWithInput(0, 0, output, true); m_swerve.driveWithInput(0, 0, output, true); // i have no idea if this is how you rotate the
// entire swerve drive or its the commented line below
// m_swerve.driveWithInput(0, 0, Math.cos(output), Math.sin(output), true); // m_swerve.driveWithInput(0, 0, Math.cos(output), Math.sin(output), true);
m_hood.runAngleAdjustPID(m_targetHood); m_hood.runAngleAdjustPID(m_targetHood);