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This commit is contained in:
aarav18
2022-03-10 17:46:51 -07:00
parent 74d83a620d
commit 263e324798
2 changed files with 28 additions and 36 deletions
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src/main/java/frc4388/robot/commands/TrackTarget.java
+4 -3
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@@ -46,7 +46,8 @@ public class TrackTarget extends CommandBase {
m_boomBoom = boomBoom;
m_hood = hood;
m_visionOdometry = visionOdometry;
addRequirements(m_turret, m_drive, m_visionOdometry);
addRequirements(m_turret, m_boomBoom, m_hood, m_drive, m_visionOdometry);
}
// Called when the command is initially scheduled.
@@ -78,9 +79,9 @@ public class TrackTarget extends CommandBase {
}
vel = m_boomBoom.getVelocity(distance);
hood = m_boomBoom.getHood(distance);
m_boomBoom.runDrumShooter(vel);
// m_boomBoom.runDrumShooter(vel);
// m_boomBoom.runDrumShooterVelocityPID(vel);
m_hood.runAngleAdjustPID(hood);
// m_hood.runAngleAdjustPID(hood);
//m_turret.runshooterRotatePID(m_targetAngle);
}