Team4388/2022NoWayHome
1
0
Fork 0
mirror of https://github.com/Team4388/2022NoWayHome.git synced 2026-06-09 00:38:05 -06:00
Code Issues Packages Projects Releases Wiki Activity

Trying to debug pushkar's errors

Browse Source
This commit is contained in:
Abhishrek05
2022-01-25 19:56:32 -07:00
parent f9142d40d8
commit b430549b3f
3 changed files with 12 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/subsystems/Hood.java
+7 -2
View File
@@ -3,10 +3,12 @@
// the WPILib BSD license file in the root directory of this project.
package frc4388.robot.subsystems;
import com.revrobotics.CANEncoder;
import com.revrobotics.CANPIDController;
import com.revrobotics.CANSparkMax;
import com.revrobotics.ControlType;
import com.revrobotics.SparkMaxPIDController;
import com.revrobotics.CANDigitalInput.LimitSwitchPolarity;
import com.revrobotics.CANSparkMax.IdleMode;
import com.revrobotics.CANSparkMax.SoftLimitDirection;
@@ -23,11 +25,13 @@ public class Hood extends SubsystemBase {
public CANSparkMax m_angleAdjustMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless);
public static Gains m_angleGains = ShooterConstants.SHOOTER_ANGLE_GAINS;
public CANPIDController m_angleAdjustPIDController = m_angleAdjustMotor.getPIDController();
public CANEncoder m_angleEncoder = m_angleAdjustMotor.getEncoder();
public SparkMaxPIDController m_angleAdjustPIDController = m_angleAdjustMotor.getPIDController();
public boolean m_isHoodReady = false;
public double m_fireAngle;
/** Creates a new Hood. */
public Hood() {
@@ -56,6 +60,7 @@ public class Hood extends SubsystemBase {
m_angleAdjustPIDController.setReference(targetAngle, ControlType.kPosition);
}
public void runHood(double input) {
m_angleAdjusterMotor.set(input);