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some debuging subsystems

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This commit is contained in:
Abhishrek05
2022-01-24 18:48:03 -07:00
parent 114ee615b3
commit 304c783829
3 changed files with 25 additions and 25 deletions
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src/main/java/frc4388/robot/subsystems/BoomBoom.java
+1 -2
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@@ -14,7 +14,6 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.ShooterConstants;
import frc4388.utility.ShooterTables;
import frc4388.utility.Gains;
import frc4388.utility.Trims;
import frc4388.utility.controller.IHandController;
public class BoomBoom extends SubsystemBase {
@@ -127,7 +126,7 @@ public void setShooterGains() {
//Controls a motor with the output of the BangBang controller
//Controls a motor with the output of the BangBang conroller and a feedforward
//Shrinks the feedforward slightly to avoid over speeding the shooter
motor.set(controller.calculate(encoder.getRate(), setpoint) + 0.9 * feedforward.calculate(setpoint)); */
m_shooterFalconLeft.set(controller.calculate(encoder.getRate(), targetVel) + 0.9 * feedforward.calculate(targetVel)); */
}
src/main/java/frc4388/robot/subsystems/Vision.java
+12 -14
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@@ -6,9 +6,10 @@ package frc4388.robot.subsystems;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.wpilibj2.command.commandBase;
import frc4388.robot.constants.VisionConstants;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.Constants.VisionConstants;
import frc4388.robot.subsystems.BoomBoom;
import frc4388.robot.subsystems.Turret;
import frc4388.robot.subsystems.Hood;
@@ -35,14 +36,11 @@ public static double fireAngle;
public double m_hoodTrim;
public double m_turretTrim;
LimeLight m_limeLight;
public TrackTarget(ShooterAim aimSubsystem, LimeLight limeLight) {
m_turret = turretSubsystem;
m_boomBoom = m_turret.m_turretSubsystem;
public Vision(Turret aimSubsystem, BoomBoom boomBoom) {
m_turret = aimSubsystem;
m_boomBoom = boomBoom;
m_hood = m_boomBoom.m_hoodSubsystem;
m_limeLight = limeLight;
addRequirements(m_turret);
//addRequirements(m_turret);
limeOff();
changePipeline(0);
NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0);
@@ -50,9 +48,9 @@ public TrackTarget(ShooterAim aimSubsystem, LimeLight limeLight) {
}
public void track(){
target = getV()
xAngle = getX()
yAngle = getY()
target = getV();
xAngle = getX();
yAngle = getY();
//find distance
distance = (VisionConstants.TARGET_HEIGHT) / Math.tan((VisionConstants.LIME_ANGLE + yAngle) * (Math.PI / 180));
@@ -68,10 +66,10 @@ public void track(){
turnAmount = 0.1;
}
else if (turnAmount < 0 && turnAmount > -0.1){
turnAmount = -0.1
turnAmount = -0.1;
}
}
m_turret.runShooterWithInput(-turnAmount);
m_turret.turnWithJoystick(-turnAmount);
SmartDashboard.putNumber("Disance to Target", realDistance);