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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(){