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commented out bunch of stuff in order to make turret work

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This commit is contained in:
Ryan Manley
2022-02-05 14:27:11 -07:00
parent d666e9eb9d
commit 3e43b50f04
5 changed files with 107 additions and 106 deletions
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src/main/java/frc4388/robot/subsystems/Turret.java
+6 -4
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@@ -28,7 +28,7 @@ public class Turret extends SubsystemBase {
public BoomBoom m_boomBoomSubsystem;
public SwerveDrive m_sDriveSubsystem;
public CANSparkMax m_boomBoomRotateMotor = new CANSparkMax(ShooterConstants.SHOOTER_ROTATE_ID, MotorType.kBrushless);
public CANSparkMax m_boomBoomRotateMotor;// = new CANSparkMax(ShooterConstants.SHOOTER_ROTATE_ID, MotorType.kBrushless);
public static Gains m_shooterTGains = ShooterConstants.SHOOTER_TURRET_GAINS;
SparkMaxLimitSwitch m_boomBoomRightLimit, m_boomBoomLeftLimit;
public Gyro m_turretGyro;
@@ -37,14 +37,16 @@ public class Turret extends SubsystemBase {
public boolean m_isAimReady = false;
SparkMaxPIDController m_boomBoomRotatePIDController = m_boomBoomRotateMotor.getPIDController();
public RelativeEncoder m_boomBoomRotateEncoder = m_boomBoomRotateMotor.getEncoder();
SparkMaxPIDController m_boomBoomRotatePIDController;// = m_boomBoomRotateMotor.getPIDController();
public RelativeEncoder m_boomBoomRotateEncoder;// = m_boomBoomRotateMotor.getEncoder();
//Variables
public Turret() {
m_boomBoomRotateMotor = new CANSparkMax(30, MotorType.kBrushless);
m_boomBoomRotatePIDController = m_boomBoomRotateMotor.getPIDController();
m_boomBoomRotateEncoder = m_boomBoomRotateMotor.getEncoder();
m_boomBoomRotateMotor.setIdleMode(IdleMode.kBrake);
m_turretGyro = getGyroInterface();