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This commit is contained in:
Ryan
2022-03-24 13:30:43 -06:00
parent 1221fb74d5
commit 4bc1dc6b37
2 changed files with 5 additions and 3 deletions
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src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java
+4 -2
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@@ -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);