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goto 0 methods for hood + turret

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aarav18
2022-03-14 18:58:44 -06:00
parent 8a25b7c1d5
commit ed10b1e83f
4 changed files with 18 additions and 4 deletions
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src/main/java/frc4388/robot/subsystems/Turret.java
+8 -1
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@@ -93,7 +93,7 @@ public class Turret extends SubsystemBase {
m_boomBoomRotateMotor.set(input * ShooterConstants.TURRET_SPEED_MULTIPLIER);
}
public void runshooterRotatePID(double targetAngle) {
public void runShooterRotatePID(double targetAngle) {
targetAngle = targetAngle / ShooterConstants.TURRET_DEGREES_PER_ROT;
m_boomBoomRotatePIDController.setReference(targetAngle, ControlType.kPosition);
}
@@ -102,6 +102,13 @@ public class Turret extends SubsystemBase {
m_boomBoomRotateEncoder.setPosition(0);
}
/**
* Run a PID to go to the zero position.
*/
public void gotoZero() {
runShooterRotatePID(0);
}
public double getboomBoomRotatePosition() {
return m_boomBoomRotateEncoder.getPosition();
}