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climber subsystem 3.0

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aarav18
2022-03-20 18:09:16 -06:00
parent 7f1061ab9a
commit 70e681c7d7
5 changed files with 133 additions and 538 deletions
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src/main/java/frc4388/robot/commands/ShooterCommands/Shoot.java
+2 -2
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@@ -106,8 +106,8 @@ public class Shoot extends CommandBase {
* Updates error for custom PID.
*/
public void updateError() {
targetAngle = AimToCenter.aaravAngleToCenter(odoX, odoY, swerve.getRegGyro().getDegrees());
// targetAngle = AimToCenter.aaravAngleToCenter(odoX, odoY, swerve.getRegGyro().getDegrees());
targetAngle = 0;
error = (targetAngle - turret.getBoomBoomAngleDegrees()) % 360;
// if (error > 180) {
// error = 360 - error; // TODO: error - 360