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shooter tables and shoot command

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aarav18
2022-02-25 20:18:21 -07:00
parent 31346ff646
commit 6e55d6fabd
8 changed files with 385 additions and 213 deletions
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src/main/java/frc4388/robot/subsystems/Turret.java
+5 -3
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@@ -51,10 +51,12 @@ public class Turret extends SubsystemBase {
m_boomBoomRightLimit = m_boomBoomRotateMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_boomBoomRightLimit.enableLimitSwitch(true);
m_boomBoomLeftLimit.enableLimitSwitch(true);
SmartDashboard.putBoolean("Right Limit Switch Enabled", m_boomBoomRightLimit.isLimitSwitchEnabled());
SmartDashboard.putBoolean("Left Limit Switch Enabled", m_boomBoomLeftLimit.isLimitSwitchEnabled());
m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kForward, false);
m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kReverse, true);
m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.TURRET_RIGHT_SOFT_LIMIT); // Set
// m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kForward, false);
// m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kReverse, true);
// m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.TURRET_RIGHT_SOFT_LIMIT); // Set
// second
// soft
// limit