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convert shooter tables to percent output

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This commit is contained in:
aarav18
2022-03-10 16:56:27 -07:00
parent e237f14537
commit 74d83a620d
2 changed files with 6 additions and 3 deletions
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src/main/deploy/ShooterData.csv
+4 -2
View File
@@ -1,3 +1,5 @@
Distance (in) ,Hood Ext. (u) ,Drum Velocity (u/ds) Distance (in) ,Hood Ext. (u) ,Drum Velocity (u/ds)
0 ,16 ,0 96 ,-25.00 ,0.425
999 ,28.8 ,1200 144 ,-47.57 ,0.475
192 ,-55.55 ,0.500
240 ,-96.00 ,0.525
1 Distance (in) Hood Ext. (u) Drum Velocity (u/ds)
2 0 96 16 -25.00 0 0.425
3 999 144 28.8 -47.57 1200 0.475
4 192 -55.55 0.500
5 240 -96.00 0.525
src/main/java/frc4388/robot/commands/TrackTarget.java
+2 -1
View File
@@ -78,7 +78,8 @@ public class TrackTarget extends CommandBase {
} }
vel = m_boomBoom.getVelocity(distance); vel = m_boomBoom.getVelocity(distance);
hood = m_boomBoom.getHood(distance); hood = m_boomBoom.getHood(distance);
m_boomBoom.runDrumShooterVelocityPID(vel); m_boomBoom.runDrumShooter(vel);
// m_boomBoom.runDrumShooterVelocityPID(vel);
m_hood.runAngleAdjustPID(hood); m_hood.runAngleAdjustPID(hood);
//m_turret.runshooterRotatePID(m_targetAngle); //m_turret.runshooterRotatePID(m_targetAngle);
} }