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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/Shoot.java
+1 -8
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@@ -120,14 +120,7 @@ public class Shoot extends CommandBase {
m_targetAngle = ((Math.atan2(m_odoY, m_odoX) * (180./Math.PI) - m_gyroAngle) + 180. + 360.) % 360.;
// deadzone processing
if (AimToCenter.isHardwareDeadzone(m_targetAngle)) {
m_targetAngle = m_targetAngle + 20;
}
if (AimToCenter.isDigitalDeadzone(m_targetAngle)) {
// this should rotate the entire swerve drive by 20 degrees, so shoot can now proceed like normal. idk if this will work
m_swerve.driveWithInput(0, 0, Math.cos(m_gyroAngle + 20), Math.sin(m_gyroAngle + 20), true);
}
if (AimToCenter.isDeadzone(m_targetAngle)) {}
// initial error
updateError();