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turret deadzone

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aarav18
2022-03-06 15:05:08 -07:00
parent 9299ee0974
commit 62e248faa9
4 changed files with 9 additions and 25 deletions
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src/main/java/frc4388/robot/commands/AimToCenter.java
+4 -13
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@@ -61,21 +61,12 @@ public class AimToCenter extends CommandBase {
}
/**
* Checks if in hardware deadzone (due to mechanical limitations).
* Checks if in deadzone.
* @param angle Angle to check.
* @return True if in hardware deadzone.
* @return True if in deadzone.
*/
public static boolean isHardwareDeadzone(double angle) {
return ((ShooterConstants.HARD_DEADZONE_LEFT > angle) || (angle > ShooterConstants.HARD_DEADZONE_RIGHT));
}
/**
* Checks if in digital deadzone (due to climber).
* @param angle Angle to check.
* @return True if in digital deadzone.
*/
public static boolean isDigitalDeadzone(double angle) {
return ((ShooterConstants.DIG_DEADZONE_LEFT < angle) && (angle < ShooterConstants.DIG_DEADZONE_RIGHT));
public static boolean isDeadzone(double angle) {
return !((ShooterConstants.TURRET_REVERSE_LIMIT < angle) && (angle < ShooterConstants.TURRET_FORWARD_LIMIT));
}
// Called once the command ends or is interrupted.