Team4388/2022NoWayHome
1
0
Fork 0
mirror of https://github.com/Team4388/2022NoWayHome.git synced 2026-06-09 00:38:05 -06:00
Code Issues Packages Projects Releases Wiki Activity

THIS WORKS CURRENTLY

Browse Source
This commit is contained in:
Ryan
2022-03-22 19:48:40 -06:00
parent b17ab324e4
commit 3c8d581685
5 changed files with 13 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java
+4 -5
View File
@@ -79,15 +79,14 @@ public class TrackTarget extends CommandBase {
velocity = 0;
hoodPosition = 0;
m_visionOdometry.setDriverMode(false);
m_visionOdometry.setLEDs(true);
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
try {
m_visionOdometry.setDriverMode(false);
m_visionOdometry.setLEDs(true);
points = m_visionOdometry.getTargetPoints();
// points = getFakePoints();
//// points = filterPoints(points);
@@ -114,8 +113,8 @@ public class TrackTarget extends CommandBase {
velocity = m_boomBoom.getVelocity(regressedDistance);
hoodPosition = m_boomBoom.getHood(regressedDistance);
m_boomBoom.runDrumShooterVelocityPID(velocity);
m_hood.runAngleAdjustPID(hoodPosition);
m_boomBoom.runDrumShooterVelocityPID(velocity + 20);
m_hood.runAngleAdjustPID(hoodPosition + 20);
double currentDrumVel = this.m_boomBoom.m_shooterFalconLeft.getSelectedSensorVelocity();
double currentHood = this.m_hood.getEncoderPosition();