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This commit is contained in:
Ryan Manley
2022-03-12 20:39:05 -07:00
parent 17fdcc00f6
commit ae9890f34b
5 changed files with 56 additions and 52 deletions
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src/main/java/frc4388/robot/subsystems/Hood.java
+3 -1
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@@ -11,6 +11,7 @@ import com.revrobotics.SparkMaxLimitSwitch;
import com.revrobotics.CANSparkMax.ControlType;
import com.revrobotics.CANSparkMax.SoftLimitDirection;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.ShooterConstants;
@@ -48,7 +49,7 @@ public double m_fireAngle;
m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kForward, (float) ShooterConstants.HOOD_FORWARD_LIMIT);
m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kReverse, (float) ShooterConstants.HOOD_REVERSE_LIMIT);
setHoodSoftLimits(true);
setHoodSoftLimits(false);
}
@@ -85,6 +86,7 @@ public double m_fireAngle;
*/
public void runHood(double input) {
m_angleAdjusterMotor.set(input);
SmartDashboard.putNumber("Hood Angle", m_angleAdjusterMotor.getAlternateEncoder(1024).getPosition());
}
public void resetGyroAngleAdj(){
src/main/java/frc4388/robot/subsystems/Turret.java
+2 -1
View File
@@ -56,7 +56,7 @@ public class Turret extends SubsystemBase {
m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kForward, (float) ShooterConstants.TURRET_FORWARD_LIMIT);
m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kReverse, (float) ShooterConstants.TURRET_REVERSE_LIMIT);
setTurretSoftLimits(true);
setTurretSoftLimits(false);
m_boomBoomRotateMotor.setInverted(true);
@@ -89,6 +89,7 @@ public class Turret extends SubsystemBase {
public void runTurretWithInput(double input) {
m_boomBoomRotateMotor.set(input * ShooterConstants.TURRET_SPEED_MULTIPLIER);
SmartDashboard.putNumber("Turret Angle", m_boomBoomRotateMotor.getAlternateEncoder(1024).getPosition());
}
public void runshooterRotatePID(double targetAngle) {