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

Monday Fixes

Browse Source
This commit is contained in:
Ryan Manley
2022-03-08 16:14:34 -07:00
parent 931c0cbd12
commit dce8ab320c
6 changed files with 90 additions and 61 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/subsystems/Hood.java
+6 -6
View File
@@ -20,8 +20,8 @@ public class Hood extends SubsystemBase {
public BoomBoom m_shooterSubsystem;
public CANSparkMax m_angleAdjusterMotor;
public SparkMaxLimitSwitch m_hoodUpLimitSwitch;
public SparkMaxLimitSwitch m_hoodDownLimitSwitch;
// public SparkMaxLimitSwitch m_hoodUpLimitSwitch;
// public SparkMaxLimitSwitch m_hoodDownLimitSwitch;
public static Gains m_angleAdjusterGains;
public RelativeEncoder m_angleEncoder;
@@ -41,10 +41,10 @@ public double m_fireAngle;
m_angleAdjusterPIDController = m_angleAdjusterMotor.getPIDController();
m_angleAdjusterGains = ShooterConstants.SHOOTER_ANGLE_GAINS;
m_hoodUpLimitSwitch = m_angleAdjusterMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_hoodDownLimitSwitch = m_angleAdjusterMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_hoodUpLimitSwitch.enableLimitSwitch(true);
m_hoodDownLimitSwitch.enableLimitSwitch(true);
// m_hoodUpLimitSwitch = m_angleAdjusterMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
// m_hoodDownLimitSwitch = m_angleAdjusterMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
// m_hoodUpLimitSwitch.enableLimitSwitch(true);
// m_hoodDownLimitSwitch.enableLimitSwitch(true);
m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kForward, (float) ShooterConstants.HOOD_FORWARD_LIMIT);
m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kReverse, (float) ShooterConstants.HOOD_REVERSE_LIMIT);