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Merge branch 'vision-odo-not-proto' of https://github.com/Team4388/2022NoWayHome into vision-odo-not-proto

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ryan123rudder
2022-03-06 00:24:53 -07:00
parent 9034e538de c26fa62747
commit 4b19cb5527
4 changed files with 26 additions and 13 deletions
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src/main/java/frc4388/robot/subsystems/Hood.java
+4 -3
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@@ -24,7 +24,7 @@ import frc4388.utility.Gains;
public class Hood extends SubsystemBase {
public BoomBoom m_shooterSubsystem;
public CANSparkMax m_angleAdjusterMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless);
public CANSparkMax m_angleAdjusterMotor;
public SparkMaxLimitSwitch m_hoodUpLimitSwitch;
public SparkMaxLimitSwitch m_hoodDownLimitSwitch;
public static Gains m_angleAdjusterGains = ShooterConstants.SHOOTER_ANGLE_GAINS;
@@ -39,8 +39,9 @@ public double m_fireAngle;
/** Creates a new Hood. */
public Hood() {
m_angleAdjusterMotor.setIdleMode(IdleMode.kBrake);
public Hood(CANSparkMax angleAdjusterMotor) {
m_angleAdjusterMotor = angleAdjusterMotor;
m_hoodUpLimitSwitch = m_angleAdjusterMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_hoodDownLimitSwitch = m_angleAdjusterMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);