From 74d83a620df2fc65cf7672795ec07fc42b315edc Mon Sep 17 00:00:00 2001 From: aarav18 Date: Thu, 10 Mar 2022 16:56:27 -0700 Subject: [PATCH] convert shooter tables to percent output --- src/main/deploy/ShooterData.csv | 6 ++++-- src/main/java/frc4388/robot/commands/TrackTarget.java | 3 ++- 2 files changed, 6 insertions(+), 3 deletions(-) diff --git a/src/main/deploy/ShooterData.csv b/src/main/deploy/ShooterData.csv index 573b060..5e4b222 100644 --- a/src/main/deploy/ShooterData.csv +++ b/src/main/deploy/ShooterData.csv @@ -1,3 +1,5 @@ Distance (in) ,Hood Ext. (u) ,Drum Velocity (u/ds) -0 ,16 ,0 -999 ,28.8 ,1200 \ No newline at end of file +96 ,-25.00 ,0.425 +144 ,-47.57 ,0.475 +192 ,-55.55 ,0.500 +240 ,-96.00 ,0.525 \ No newline at end of file diff --git a/src/main/java/frc4388/robot/commands/TrackTarget.java b/src/main/java/frc4388/robot/commands/TrackTarget.java index 4cd9945..041e723 100644 --- a/src/main/java/frc4388/robot/commands/TrackTarget.java +++ b/src/main/java/frc4388/robot/commands/TrackTarget.java @@ -78,7 +78,8 @@ public class TrackTarget extends CommandBase { } vel = m_boomBoom.getVelocity(distance); hood = m_boomBoom.getHood(distance); - m_boomBoom.runDrumShooterVelocityPID(vel); + m_boomBoom.runDrumShooter(vel); + // m_boomBoom.runDrumShooterVelocityPID(vel); m_hood.runAngleAdjustPID(hood); //m_turret.runshooterRotatePID(m_targetAngle); }