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This commit is contained in:
Abhishrek05
2022-02-19 11:05:44 -07:00
parent dc103ad646
commit b5215b7a09
4 changed files with 46 additions and 24 deletions
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src/main/java/frc4388/robot/subsystems/Turret.java
+13 -11
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@@ -7,6 +7,7 @@ package frc4388.robot.subsystems;
import com.revrobotics.CANSparkMax.ControlType;
import com.revrobotics.CANSparkMax.IdleMode;
import com.revrobotics.CANEncoder;
import com.revrobotics.CANSparkMax;
import com.revrobotics.RelativeEncoder;
import com.revrobotics.SparkMaxLimitSwitch;
@@ -41,10 +42,11 @@ public class Turret extends SubsystemBase {
public RelativeEncoder m_boomBoomRotateEncoder;// = m_boomBoomRotateMotor.getEncoder();
//Variables
public Turret(CANSparkMax BoomBoomRotateMotor) { //Take in rotate motor as an argument
public Turret(CANSparkMax boomBoomRotateMotor) { //Take in rotate motor as an argument
m_boomBoomRotateMotor = BoomBoomRotateMotor;
m_boomBoomRotateMotor = boomBoomRotateMotor;
m_boomBoomRotatePIDController = m_boomBoomRotateMotor.getPIDController();
m_boomBoomRotateEncoder = m_boomBoomRotateMotor.getEncoder();
m_boomBoomRotateMotor.setIdleMode(IdleMode.kBrake);
@@ -83,18 +85,18 @@ public class Turret extends SubsystemBase {
}
public void runshooterRotatePID(double targetAngle) { //Split into configure and run
m_boomBoomRotatePIDController.setP(m_shooterTGains.m_kP);
m_boomBoomRotatePIDController.setI(m_shooterTGains.m_kI);
m_boomBoomRotatePIDController.setD(m_shooterTGains.m_kD);
m_boomBoomRotatePIDController.setFF(m_shooterTGains.m_kF);
m_boomBoomRotatePIDController.setIZone(m_shooterTGains.m_kIzone);
m_boomBoomRotatePIDController.setP(m_shooterTGains.m_kP);
m_boomBoomRotatePIDController.setI(m_shooterTGains.m_kI);
m_boomBoomRotatePIDController.setD(m_shooterTGains.m_kD);
m_boomBoomRotatePIDController.setFF(m_shooterTGains.m_kF);
m_boomBoomRotatePIDController.setIZone(m_shooterTGains.m_kIzone);
m_boomBoomRotatePIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterTGains.m_kPeakOutput);
m_boomBoomRotatePIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterTGains.m_kPeakOutput);
targetAngle = targetAngle/ShooterConstants.DEGREES_PER_ROT;
targetAngle = targetAngle/ShooterConstants.DEGREES_PER_ROT;
m_boomBoomRotatePIDController.setReference(targetAngle,ControlType.kPosition);
m_boomBoomRotatePIDController.setReference(targetAngle,ControlType.kPosition);
}
public void resetGyroShooterRotate()
@@ -107,7 +109,7 @@ public class Turret extends SubsystemBase {
return m_boomBoomRotateEncoder.getPosition();
}
public double getAnglePositionDegrees() {
public double getBoomBoomAngleDegrees() {
return (m_boomBoomRotateEncoder.getPosition() - ShooterConstants.TURRET_MOTOR_POS_AT_ZERO_ROT) * 360/ShooterConstants. TURRET_MOTOR_ROTS_PER_ROT;
}