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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/Turret.java
+2 -1
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@@ -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) {