From 4bc1dc6b375d024d4de55c8e9116b7fb4a1d64be Mon Sep 17 00:00:00 2001 From: Ryan Date: Thu, 24 Mar 2022 13:30:43 -0600 Subject: [PATCH] dfcgh --- src/main/java/frc4388/robot/Robot.java | 2 +- .../frc4388/robot/commands/ShooterCommands/TrackTarget.java | 6 ++++-- 2 files changed, 5 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java index 72b7c4b..75a2675 100644 --- a/src/main/java/frc4388/robot/Robot.java +++ b/src/main/java/frc4388/robot/Robot.java @@ -181,7 +181,7 @@ public class Robot extends TimedRobot { LOGGER.log(Level.SEVERE, "Unable to record path to {0}", outputFile.getPath()); } - m_robotContainer.m_robotVisionOdometry.setLEDs(true); + m_robotContainer.m_robotVisionOdometry.setLEDs(false); } @Override diff --git a/src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java b/src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java index 5b9d131..422ac23 100644 --- a/src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java +++ b/src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java @@ -65,6 +65,7 @@ public class TrackTarget extends CommandBase { this.timeTolerance = 1000; addRequirements(m_turret, m_boomBoom, m_hood, m_visionOdometry); + SmartDashboard.putNumber("Distance Adjust", 20); } public TrackTarget(Turret turret, BoomBoom boomBoom, Hood hood, VisionOdometry visionOdometry) { @@ -110,8 +111,9 @@ public class TrackTarget extends CommandBase { double regressedDistance = getDistance(average.y); // ! no longer a +30 lol -aarav - velocity = m_boomBoom.getVelocity(regressedDistance + 20); - hoodPosition = m_boomBoom.getHood(regressedDistance + 20); + double distAdj = SmartDashboard.getNumber("Distance Adjust", 20); + velocity = m_boomBoom.getVelocity(regressedDistance + distAdj); + hoodPosition = m_boomBoom.getHood(regressedDistance + distAdj); m_boomBoom.runDrumShooterVelocityPID(velocity); m_hood.runAngleAdjustPID(hoodPosition);