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small changes shtuf

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This commit is contained in:
aarav18
2022-03-16 14:32:41 -06:00
parent 7ae7591951
commit 38459ba40c
5 changed files with 20 additions and 22 deletions
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src/main/java/frc4388/robot/subsystems/Turret.java
+6 -3
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@@ -45,10 +45,8 @@ public class Turret extends SubsystemBase {
m_boomBoomLeftLimit = m_boomBoomRotateMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_boomBoomRightLimit = m_boomBoomRotateMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_boomBoomRightLimit.enableLimitSwitch(true);
m_boomBoomLeftLimit.enableLimitSwitch(true);
setTurretLimitSwitches(true);
// setTurretLimitSwitches(false);
// SmartDashboard.putBoolean("Right Limit Switch Enabled", m_boomBoomRightLimit.isLimitSwitchEnabled());
// SmartDashboard.putBoolean("Left Limit Switch Enabled", m_boomBoomLeftLimit.isLimitSwitchEnabled());
@@ -74,8 +72,13 @@ public class Turret extends SubsystemBase {
@Override
public void periodic() {
// This method will be called once per scheduler run
SmartDashboard.putNumber("Turret Angle Rotations", m_boomBoomRotateEncoder.getPosition());
SmartDashboard.putNumber("Turret Angle Degrees", m_boomBoomRotateEncoder.getPosition() * ShooterConstants.TURRET_DEGREES_PER_ROT);
SmartDashboard.putBoolean("Left Limit Switch Pressed", m_boomBoomLeftLimit.isPressed());
SmartDashboard.putBoolean("Right Limit Switch Pressed", m_boomBoomRightLimit.isPressed());
if (m_boomBoomLeftLimit.isPressed()) m_boomBoomRotateEncoder.setPosition(ShooterConstants.TURRET_REVERSE_LIMIT - 2);
if (m_boomBoomRightLimit.isPressed()) m_boomBoomRotateEncoder.setPosition(ShooterConstants.TURRET_FORWARD_LIMIT + 2);
}