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turret pid tuned and degree conversion

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This commit is contained in:
Ryan Manley
2022-03-13 17:57:36 -06:00
parent 68c69d7262
commit cfdac7f069
3 changed files with 13 additions and 12 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+8 -8
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@@ -176,7 +176,7 @@ public class RobotContainer {
new RunCommand(() -> m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()),
m_robotTurret).withName("Turret runTurretWithInput defaultCommand"));
m_robotHood.setDefaultCommand(
new RunCommand(() -> m_robotHood.runHood(getOperatorController().getLeftY()), m_robotHood));
new RunCommand(() -> m_robotHood.runHood(getOperatorController().getRightY()), m_robotHood));
// m_robotTurret.setDefaultCommand(
// new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry));
@@ -260,9 +260,6 @@ public class RobotContainer {
new JoystickButton(getOperatorController(), XboxController.Button.kX.value) //20ft
.whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(10000)))
// .whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.6)))
// .whenReleased(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.0)));
// .whileHeld(new RunCommand(() -> m_robotHood.runAngleAdjustPID(-96)))
.whenReleased(new RunCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0)));
new JoystickButton(getOperatorController(), XboxController.Button.kLeftBumper.value)
@@ -281,11 +278,14 @@ public class RobotContainer {
// .whileHeld(new RunCommand(() -> m_robotExtender.runExtender(-1.0), m_robotExtender))
// .whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
.whenPressed(new InstantCommand(() -> m_robotBoomBoom.updateOffset(500), m_robotBoomBoom));
// new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
// .whenPressed(new InstantCommand(() -> m_robotBoomBoom.updateOffset(500), m_robotBoomBoom));
new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
.whenPressed(new InstantCommand(() -> m_robotBoomBoom.updateOffset(-500), m_robotBoomBoom));
new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
.whileHeld(new RunCommand(() -> m_robotTurret.runshooterRotatePID(-180.0), m_robotTurret));
// new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
// .whenPressed(new InstantCommand(() -> m_robotBoomBoom.updateOffset(-500), m_robotBoomBoom));
// new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
// .whileHeld(new InstantCommand(() -> m_robotExtender.runExtender(-1.0), m_robotExtender))