Team4388/2022NoWayHome
1
0
Fork 0
mirror of https://github.com/Team4388/2022NoWayHome.git synced 2026-06-09 08:48:07 -06:00
Code Issues Packages Projects Releases Wiki Activity

shhhtufff

Browse Source
This commit is contained in:
aarav18
2022-03-12 22:19:42 -07:00
parent 42a8f0672e
commit ba9dce23af
6 changed files with 51 additions and 27 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/subsystems/Hood.java
+2 -2
View File
@@ -50,13 +50,14 @@ public class Hood extends SubsystemBase {
m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kForward, (float) ShooterConstants.HOOD_FORWARD_LIMIT);
m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kReverse, (float) ShooterConstants.HOOD_REVERSE_LIMIT);
setHoodSoftLimits(false);
setHoodSoftLimits(true);
}
@Override
public void periodic() {
// This method will be called once per scheduler run
SmartDashboard.putNumber("Hood Angle", m_angleEncoder.getPosition());
}
/**
@@ -87,7 +88,6 @@ public class Hood extends SubsystemBase {
*/
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/Intake.java
+1 -1
View File
@@ -35,7 +35,7 @@ public class Intake extends SubsystemBase {
* @param rightTrigger Right Trigger to Run Outward
*/
public void runWithTriggers(double leftTrigger, double rightTrigger) {
m_intakeMotor.set((rightTrigger - leftTrigger) * 0.3);
m_intakeMotor.set((rightTrigger - leftTrigger) * 0.4);
SmartDashboard.putNumber("Intake Current Supply", m_intakeMotor.getSupplyCurrent());
SmartDashboard.putNumber("Intake Current Stator", m_intakeMotor.getStatorCurrent());
}
src/main/java/frc4388/robot/subsystems/Turret.java
+7 -3
View File
@@ -7,7 +7,7 @@ package frc4388.robot.subsystems;
import com.revrobotics.CANSparkMax.ControlType;
import com.revrobotics.CANSparkMax.IdleMode;
import com.revrobotics.CANSparkMax.SoftLimitDirection;
import com.revrobotics.SparkMaxRelativeEncoder.Type;
import com.revrobotics.CANSparkMax;
import com.revrobotics.RelativeEncoder;
import com.revrobotics.SparkMaxLimitSwitch;
@@ -56,10 +56,12 @@ 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(false);
setTurretSoftLimits(true);
m_boomBoomRotateMotor.setInverted(true);
// m_boomBoomRotateMotor.getAlternateEncoder(4096).setPosition(0);
m_boomBoomRotatePIDController.setP(m_shooterTGains.kP);
m_boomBoomRotatePIDController.setI(m_shooterTGains.kI);
m_boomBoomRotatePIDController.setD(m_shooterTGains.kD);
@@ -71,6 +73,7 @@ public class Turret extends SubsystemBase {
@Override
public void periodic() {
// This method will be called once per scheduler run
SmartDashboard.putNumber("Turret Angle", m_boomBoomRotateEncoder.getPosition());
}
/**
@@ -89,7 +92,6 @@ 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) {
@@ -102,10 +104,12 @@ public class Turret extends SubsystemBase {
}
public double getboomBoomRotatePosition() {
// return 0.0;
return m_boomBoomRotateEncoder.getPosition();
}
public double getBoomBoomAngleDegrees() {
// return 0.0;
return (m_boomBoomRotateEncoder.getPosition() - ShooterConstants.TURRET_MOTOR_POS_AT_ZERO_ROT) * 360
/ ShooterConstants.TURRET_MOTOR_ROTS_PER_ROT;
}