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drum pid + tentative shooting values + get voltage

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This commit is contained in:
Ryan Manley
2022-03-13 17:02:55 -06:00
parent 362fb579a9
commit 68c69d7262
9 changed files with 55 additions and 26 deletions
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src/main/java/frc4388/robot/subsystems/Turret.java
+1 -5
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@@ -7,7 +7,7 @@ package frc4388.robot.subsystems;
import com.revrobotics.CANSparkMax.ControlType;
import com.revrobotics.CANSparkMax.IdleMode;
import com.revrobotics.CANSparkMax.SoftLimitDirection;
import com.revrobotics.SparkMaxRelativeEncoder.Type;
import com.revrobotics.CANSparkMax;
import com.revrobotics.RelativeEncoder;
import com.revrobotics.SparkMaxLimitSwitch;
@@ -60,8 +60,6 @@ public class Turret extends SubsystemBase {
m_boomBoomRotateMotor.setInverted(true);
// m_boomBoomRotateMotor.getAlternateEncoder(4096).setPosition(0);
m_boomBoomRotatePIDController.setP(m_shooterTGains.kP);
m_boomBoomRotatePIDController.setI(m_shooterTGains.kI);
m_boomBoomRotatePIDController.setD(m_shooterTGains.kD);
@@ -104,12 +102,10 @@ public class Turret extends SubsystemBase {
}
public double getboomBoomRotatePosition() {
// return 0.0;
return m_boomBoomRotateEncoder.getPosition();
}
public double getBoomBoomAngleDegrees() {
// return 0.0;
return (m_boomBoomRotateEncoder.getPosition() - ShooterConstants.TURRET_MOTOR_POS_AT_ZERO_ROT) * 360
/ ShooterConstants.TURRET_MOTOR_ROTS_PER_ROT;
}