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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
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src/main/java/frc4388/robot/subsystems/Hood.java
+2 -2
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@@ -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(){