From 23aee3c0a68315e7c25fed9afbd0b97338d95bc4 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Sat, 19 Mar 2022 22:05:43 -0600 Subject: [PATCH] method for vel ramping --- .../java/frc4388/robot/commands/ShooterCommands/Shoot.java | 1 + src/main/java/frc4388/robot/subsystems/Hood.java | 3 +++ src/main/java/frc4388/robot/subsystems/Turret.java | 4 +++- 3 files changed, 7 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc4388/robot/commands/ShooterCommands/Shoot.java b/src/main/java/frc4388/robot/commands/ShooterCommands/Shoot.java index d172256..2d84ef5 100644 --- a/src/main/java/frc4388/robot/commands/ShooterCommands/Shoot.java +++ b/src/main/java/frc4388/robot/commands/ShooterCommands/Shoot.java @@ -214,6 +214,7 @@ public class Shoot extends CommandBase { @Override public boolean isFinished() { // if (simMode) { + SmartDashboard.putBoolean("isAimedInTolerance", isAimedInTolerance); return isAimedInTolerance; // } // return false; diff --git a/src/main/java/frc4388/robot/subsystems/Hood.java b/src/main/java/frc4388/robot/subsystems/Hood.java index 6176c9a..29b09d2 100644 --- a/src/main/java/frc4388/robot/subsystems/Hood.java +++ b/src/main/java/frc4388/robot/subsystems/Hood.java @@ -64,7 +64,10 @@ public class Hood extends SubsystemBase { SmartDashboard.putNumber("Hood Angle", m_angleEncoder.getPosition()); // * speed limiting near soft limits. tolerance (distance when ramping starts) is 20 rotations. speed at hard limits is 0.2 (percent output). + runVelocityRamping(); + } + public void runVelocityRamping() { if (areSoftLimitsEnabled()) { double currentPos = this.getEncoderPosition(); double forwardDistance = Math.abs(currentPos - ShooterConstants.HOOD_FORWARD_SOFT_LIMIT); diff --git a/src/main/java/frc4388/robot/subsystems/Turret.java b/src/main/java/frc4388/robot/subsystems/Turret.java index d8c59d4..1ba15e6 100644 --- a/src/main/java/frc4388/robot/subsystems/Turret.java +++ b/src/main/java/frc4388/robot/subsystems/Turret.java @@ -147,9 +147,11 @@ public class Turret extends SubsystemBase { leftPrevState = leftState; // * Update the state of the left limit switch. - // * speed limiting near soft limits. tolerance (distance when ramping starts) is 20 rotations. speed at hard limits is 0.2 (percent output). + runVelocityRamping(); + } + public void runVelocityRamping() { if (areSoftLimitsEnabled()) { double currentPos = this.getEncoderPosition();