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deadzone processing done

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This commit is contained in:
Abhishrek05
2022-03-01 18:51:26 -07:00
parent b01d79ae70
commit 3acd01255d
1 changed files with 10 additions and 1 deletions
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src/main/java/frc4388/robot/commands/Shoot.java
+10 -1
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@@ -84,8 +84,17 @@ public class Shoot extends CommandBase {
m_targetVel = m_boomBoom.getVelocity(m_distance);
m_targetHood = m_boomBoom.getHood(m_distance);
m_targetAngle = ((Math.atan2(m_odoY, m_odoX) * (180./Math.PI) - m_gyroAngle) + 180. + 360.) % 360.;
m_driveTargetAngle = m_targetAngle + m_turret.getBoomBoomAngleDegrees();
m_driveTargetAngle = m_swerve.getRegGyro().getDegrees();
if (AimToCenter.isHardwareDeadzone(m_targetAngle)) {
m_targetAngle = m_targetAngle + 20;
}
if (AimToCenter.isDigitalDeadzone(m_targetAngle)) {
m_swerve.driveWithInput(0, 0, Math.cos(m_driveTargetAngle + 20), Math.sin(m_driveTargetAngle + 20), true);
}
// // normal (i think) PID stuff
// dummyConfiguration.primaryPID.selectedFeedbackSensor = TalonFXFeedbackDevice.IntegratedSensor.toFeedbackDevice();
// dummyConfiguration.remoteFilter0.remoteSensorDeviceID = dummy.getDeviceID();