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Merge branch 'testRoboReveal' of https://github.com/Team4388/2022NoWayHome into testRoboReveal

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aarav18
2022-03-12 20:43:39 -07:00
parent 1417118c72 26fe6f6500
commit 42a8f0672e
5 changed files with 56 additions and 52 deletions
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src/main/java/frc4388/robot/subsystems/Hood.java
+3 -1
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@@ -12,6 +12,7 @@ import com.revrobotics.CANSparkMax.ControlType;
import com.revrobotics.CANSparkMax.SoftLimitDirection;
import com.revrobotics.SparkMaxRelativeEncoder.Type;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.ShooterConstants;
@@ -49,7 +50,7 @@ public class Hood extends SubsystemBase {
m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kForward, (float) ShooterConstants.HOOD_FORWARD_LIMIT);
m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kReverse, (float) ShooterConstants.HOOD_REVERSE_LIMIT);
setHoodSoftLimits(true);
setHoodSoftLimits(false);
}
@@ -86,6 +87,7 @@ public class Hood extends SubsystemBase {
*/
public void runHood(double input) {
m_angleAdjusterMotor.set(input);
SmartDashboard.putNumber("Hood Angle", m_angleAdjusterMotor.getAlternateEncoder(1024).getPosition());
}
public void resetGyroAngleAdj(){
src/main/java/frc4388/robot/subsystems/Turret.java
+2 -1
View File
@@ -56,7 +56,7 @@ public class Turret extends SubsystemBase {
m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kForward, (float) ShooterConstants.TURRET_FORWARD_LIMIT);
m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kReverse, (float) ShooterConstants.TURRET_REVERSE_LIMIT);
setTurretSoftLimits(true);
setTurretSoftLimits(false);
m_boomBoomRotateMotor.setInverted(true);
@@ -89,6 +89,7 @@ public class Turret extends SubsystemBase {
public void runTurretWithInput(double input) {
m_boomBoomRotateMotor.set(input * ShooterConstants.TURRET_SPEED_MULTIPLIER);
SmartDashboard.putNumber("Turret Angle", m_boomBoomRotateMotor.getAlternateEncoder(1024).getPosition());
}
public void runshooterRotatePID(double targetAngle) {