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extender rework new subsystem

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This commit is contained in:
aarav18
2022-03-12 15:05:32 -07:00
parent 863af799e0
commit 64391c99c2
4 changed files with 83 additions and 51 deletions
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src/main/java/frc4388/robot/Robot.java
+5 -4
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@@ -137,6 +137,7 @@ public class Robot extends TimedRobot {
m_robotContainer.m_robotClimber.getCurrent() +
// m_robotContainer.m_robotHood.getCurrent() +
m_robotContainer.m_robotIntake.getCurrent() +
m_robotContainer.m_robotExtender.getCurrent() +
m_robotContainer.m_robotSerializer.getCurrent() +
m_robotContainer.m_robotStorage.getCurrent() +
m_robotContainer.m_robotSwerveDrive.getCurrent();
@@ -151,10 +152,10 @@ public class Robot extends TimedRobot {
// block in order for anything in the Command-based framework to work.
CommandScheduler.getInstance().run();
VelocityCorrection vc = new VelocityCorrection(m_robotContainer.m_robotSwerveDrive, m_robotContainer.m_robotBoomBoom);
System.out.println("Position: " + vc.position);
System.out.println("Velocity: " + vc.cartesianVelocity);
System.out.println("Target: " + vc.target.toString());
// VelocityCorrection vc = new VelocityCorrection(m_robotContainer.m_robotSwerveDrive, m_robotContainer.m_robotBoomBoom);
// System.out.println("Position: " + vc.position);
// System.out.println("Velocity: " + vc.cartesianVelocity);
// System.out.println("Target: " + vc.target.toString());
//SmartDashboard.putNumber("Turret Encoder Position", m_robotContainer.m_robotTurret.m_boomBoomRotateEncoder.getPosition());