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track target distance regression WORKS

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This commit is contained in:
66945
2022-03-14 16:56:32 -06:00
parent 9e33a7ce5d
commit abc2e8b05f
5 changed files with 18 additions and 11 deletions
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src/main/java/frc4388/robot/subsystems/Turret.java
+2 -2
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@@ -72,7 +72,7 @@ public class Turret extends SubsystemBase {
public void periodic() {
// This method will be called once per scheduler run
SmartDashboard.putNumber("Turret Angle Rotations", m_boomBoomRotateEncoder.getPosition());
SmartDashboard.putNumber("Turret Angle Degrees", m_boomBoomRotateEncoder.getPosition() * ShooterConstants.DEGREES_PER_ROT);
SmartDashboard.putNumber("Turret Angle Degrees", m_boomBoomRotateEncoder.getPosition() * ShooterConstants.TURRET_DEGREES_PER_ROT);
}
/**
@@ -94,7 +94,7 @@ public class Turret extends SubsystemBase {
}
public void runshooterRotatePID(double targetAngle) {
targetAngle = targetAngle / ShooterConstants.DEGREES_PER_ROT;
targetAngle = targetAngle / ShooterConstants.TURRET_DEGREES_PER_ROT;
m_boomBoomRotatePIDController.setReference(targetAngle, ControlType.kPosition);
}