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hehe hood

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aarav18
2022-03-06 00:27:06 -07:00
parent 4b19cb5527
commit e280a82019
1 changed files with 6 additions and 3 deletions
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src/main/java/frc4388/robot/subsystems/Hood.java
+6 -3
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@@ -27,10 +27,10 @@ public class Hood extends SubsystemBase {
public CANSparkMax m_angleAdjusterMotor;
public SparkMaxLimitSwitch m_hoodUpLimitSwitch;
public SparkMaxLimitSwitch m_hoodDownLimitSwitch;
public static Gains m_angleAdjusterGains = ShooterConstants.SHOOTER_ANGLE_GAINS;
public RelativeEncoder m_angleEncoder = m_angleAdjusterMotor.getEncoder();
public static Gains m_angleAdjusterGains;
public RelativeEncoder m_angleEncoder;
public SparkMaxPIDController m_angleAdjusterPIDController = m_angleAdjusterMotor.getPIDController();
public SparkMaxPIDController m_angleAdjusterPIDController;
public boolean m_isHoodReady = false;
@@ -42,6 +42,9 @@ public double m_fireAngle;
public Hood(CANSparkMax angleAdjusterMotor) {
m_angleAdjusterMotor = angleAdjusterMotor;
m_angleEncoder = m_angleAdjusterMotor.getEncoder();
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);