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Add more Shuffleboard items

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Minor fixes
This commit is contained in:
nathanrsxtn
2022-03-24 08:49:37 -06:00
parent 5f537548cd
commit 3bf0a2b6ba
7 changed files with 26 additions and 20 deletions
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src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java
+10 -14
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@@ -43,7 +43,7 @@ public class TrackTarget extends CommandBase {
ArrayList<Point> points = new ArrayList<>();
private boolean targetLocked = false;
private double velocityTolerance = 100.0;
private double velocityTolerance = 300.0;
private double hoodTolerance = 5.0;
boolean isExecuted = false;
@@ -110,21 +110,21 @@ public class TrackTarget extends CommandBase {
double regressedDistance = getDistance(average.y);
// ! no longer a +30 lol -aarav
velocity = m_boomBoom.getVelocity(regressedDistance);
hoodPosition = m_boomBoom.getHood(regressedDistance);
velocity = m_boomBoom.getVelocity(regressedDistance + 20);
hoodPosition = m_boomBoom.getHood(regressedDistance + 20);
m_boomBoom.runDrumShooterVelocityPID(velocity + 20);
m_hood.runAngleAdjustPID(hoodPosition + 20);
m_boomBoom.runDrumShooterVelocityPID(velocity);
m_hood.runAngleAdjustPID(hoodPosition);
double currentDrumVel = this.m_boomBoom.m_shooterFalconLeft.getSelectedSensorVelocity();
double currentHood = this.m_hood.getEncoderPosition();
targetLocked = (Math.abs(currentDrumVel - velocity) < velocityTolerance) && (Math.abs(currentHood - hoodPosition) < hoodTolerance);
targetLocked = (Math.abs(currentDrumVel - velocity) < velocityTolerance) && (Math.abs(currentHood - hoodPosition) < hoodTolerance) && (output < 0.2);
SmartDashboard.putNumber("Regressed Distance", regressedDistance);
SmartDashboard.putNumber("Distance to Target", regressedDistance);
// SmartDashboard.putNumber("Distance", distance);
SmartDashboard.putNumber("Hood Target Angle Track", hoodPosition);
SmartDashboard.putNumber("Vel Target Track", velocity);
// SmartDashboard.putNumber("Hood Target Angle Track", hoodPosition);
// SmartDashboard.putNumber("Vel Target Track", velocity);
SmartDashboard.putBoolean("Target Locked", targetLocked);
} catch (Exception e){
e.printStackTrace();
@@ -195,7 +195,7 @@ public class TrackTarget extends CommandBase {
@Override
public boolean isFinished() {
if (this.isAuto) {
if (targetLocked& !timerStarted) {
if (targetLocked && !timerStarted) {
timerStarted = true;
startTime = System.currentTimeMillis();
}
@@ -203,9 +203,5 @@ public class TrackTarget extends CommandBase {
} else {
return false;
}
// return isExecuted && Math.abs(output) < .1;
// }
// return false;
}
}