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edited aimtocenter

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This commit is contained in:
Abhishrek05
2022-02-19 13:32:39 -07:00
parent b5215b7a09
commit 64481cb1cc
2 changed files with 3 additions and 7 deletions
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src/main/java/frc4388/robot/commands/AimToCenter.java
+2 -6
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@@ -31,17 +31,13 @@ public class AimToCenter extends CommandBase {
// Called when the command is initially scheduled.
@Override
public void initialize() {
m_targetAngle = m_turret.getBoomBoomAngleDegrees() + m_drive.gyro.getAngle() + Math.atan(y/x);
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
aimTurret(m_targetAngle);
}
public void aimTurret(double targetAngle) { //Split into configure and run
m_turret.runshooterRotatePID(targetAngle);
m_targetAngle = m_turret.getBoomBoomAngleDegrees() + m_drive.gyro.getAngle() + Math.atan(y/x);
m_turret.runshooterRotatePID(m_targetAngle);
}
// Called once the command ends or is interrupted.
src/main/java/frc4388/robot/subsystems/Turret.java
+1 -1
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@@ -9,6 +9,7 @@ import com.revrobotics.CANSparkMax.ControlType;
import com.revrobotics.CANSparkMax.IdleMode;
import com.revrobotics.CANEncoder;
import com.revrobotics.CANSparkMax;
import com.revrobotics.MotorFeedbackSensor;
import com.revrobotics.RelativeEncoder;
import com.revrobotics.SparkMaxLimitSwitch;
import com.revrobotics.SparkMaxPIDController;
@@ -95,7 +96,6 @@ public class Turret extends SubsystemBase {
m_boomBoomRotatePIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterTGains.m_kPeakOutput);
targetAngle = targetAngle/ShooterConstants.DEGREES_PER_ROT;
m_boomBoomRotatePIDController.setReference(targetAngle,ControlType.kPosition);
}