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can now drive while Shoot.java was running

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aarav18
2022-03-20 15:24:48 -06:00
parent e39c81d556
commit 896bbc011c
4 changed files with 25 additions and 23 deletions
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src/main/java/frc4388/robot/commands/ShooterCommands/Shoot.java
+3 -1
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@@ -9,6 +9,8 @@ import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.Constants;
import frc4388.robot.Robot;
import frc4388.robot.RobotContainer;
import frc4388.robot.Constants.ShooterConstants;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.robot.subsystems.BoomBoom;
@@ -160,7 +162,7 @@ public class Shoot extends CommandBase {
this.turret.runTurretWithCustomPID(normOutput);
// this.turret.m_boomBoomRotateMotor.set(normOutput);
this.swerve.driveWithInput(0, 0, normOutput * (this.swerveGains.kP/this.turretGains.kP), false); // ? should the output be field relative
this.swerve.driveWithInput(RobotContainer.getDriverController().getLeftX(), RobotContainer.getDriverController().getLeftY(), normOutput * (this.swerveGains.kP/this.turretGains.kP), true); // ? should the output be field relative
if (this.toShoot) {
this.hood.runAngleAdjustPID(this.targetHood);