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very smol change

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aarav18
2022-03-19 22:24:45 -06:00
parent 6f015a2f83
commit a2434a8fde
1 changed files with 10 additions and 4 deletions
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src/main/java/frc4388/robot/commands/ShooterCommands/Shoot.java
+10 -4
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@@ -114,9 +114,6 @@ public class Shoot extends CommandBase {
this.targetHood = drum.getHood(distance);
this.targetAngle = AimToCenter.aaravAngleToCenter(odoX, odoY, swerve.getRegGyro().getDegrees());
// deadzone processing
if (AimToCenter.isDeadzone(targetAngle)) {}
// initial error
updateError();
@@ -166,8 +163,17 @@ public class Shoot extends CommandBase {
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
// return to initial swerve rotation
// ? return to initial swerve rotation
// swerve.driveWithInput(0, 0, initialSwerveRotation, true);
this.swerve.driveWithInput(0.0, 0.0, 0.0, 0.0, true);
this.turret.m_boomBoomRotateMotor.set(0.0);
if (this.toShoot) {
this.hood.runHood(0.0);
this.drum.runDrumShooter(0.0);
}
}
// Returns true when the command should end.