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private > public, return to swerve rotation

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aarav18
2022-03-18 20:02:23 -06:00
parent e51f86e9c1
commit e19dc2d77c
1 changed files with 33 additions and 27 deletions
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src/main/java/frc4388/robot/commands/ShooterCommands/Shoot.java
+33 -27
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@@ -20,40 +20,42 @@ import frc4388.utility.Gains;
public class Shoot extends CommandBase {
// subsystems
public SwerveDrive m_swerve;
public BoomBoom m_boomBoom;
public Turret m_turret;
public Hood m_hood;
private SwerveDrive m_swerve;
private BoomBoom m_boomBoom;
private Turret m_turret;
private Hood m_hood;
// given
public double m_gyroAngle;
public double m_odoX;
public double m_odoY;
public double m_distance;
private double m_gyroAngle;
private double m_odoX;
private double m_odoY;
private double m_distance;
// targets
public double m_targetVel;
public double m_targetHood;
public double m_targetAngle;
public Pose2d m_targetPoint;
private double m_targetVel;
private double m_targetHood;
private double m_targetAngle;
private Pose2d m_targetPoint;
// pid
public double error;
public double prevError;
public Gains gains = ShooterConstants.SHOOT_GAINS;
public double kP, kI, kD;
public double proportional, integral, derivative;
public double time;
public double output;
public double normOutput;
public double tolerance;
public boolean isAimedInTolerance;
public int inverted;
private double error;
private double prevError;
private Gains gains = ShooterConstants.SHOOT_GAINS;
private double kP, kI, kD;
private double proportional, integral, derivative;
private double time;
private double output;
private double normOutput;
private double tolerance;
private boolean isAimedInTolerance;
private int inverted;
private double initialSwerveRotation;
// testing
public boolean simMode = true;
public DummySensor driveDummy;
public DummySensor turretDummy;
private boolean simMode = true;
private DummySensor driveDummy;
private DummySensor turretDummy;
/**
* Creates a new shoot command, allowing the robot to aim and be ready to fire a ball
@@ -117,6 +119,7 @@ public class Shoot extends CommandBase {
m_odoY = -1;//m_swerve.getOdometry().getY();
m_gyroAngle = m_swerve.getRegGyro().getDegrees();
initialSwerveRotation = m_gyroAngle;
// get targets (shooter tables)
m_targetVel = m_boomBoom.getVelocity(m_distance);
@@ -182,7 +185,10 @@ public class Shoot extends CommandBase {
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {}
public void end(boolean interrupted) {
// return to initial swerve rotation
m_swerve.driveWithInput(0, 0, initialSwerveRotation, true);
}
// Returns true when the command should end.
@Override