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This commit is contained in:
Abhishrek05
2022-02-17 19:54:24 -07:00
parent 0fedb240d7
commit ed8cf1443c
5 changed files with 64 additions and 44 deletions
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src/main/java/frc4388/robot/subsystems/Turret.java
+9 -21
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@@ -42,14 +42,14 @@ public class Turret extends SubsystemBase {
//Variables
public Turret() {
public Turret(CANSparkMax BoomBoomRotateMotor) { //Take in rotate motor as an argument
m_boomBoomRotateMotor = new CANSparkMax(30, MotorType.kBrushless);
m_boomBoomRotateMotor = BoomBoomRotateMotor;
m_boomBoomRotatePIDController = m_boomBoomRotateMotor.getPIDController();
m_boomBoomRotateEncoder = m_boomBoomRotateMotor.getEncoder();
m_boomBoomRotateMotor.setIdleMode(IdleMode.kBrake);
m_turretGyro = getGyroInterface();
m_boomBoomLeftLimit = m_boomBoomRotateMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_boomBoomRightLimit = m_boomBoomRotateMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_boomBoomRightLimit.enableLimitSwitch(true);
@@ -57,14 +57,11 @@ public class Turret extends SubsystemBase {
m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kForward, false);
m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kReverse, true);
m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.TURRET_RIGHT_SOFT_LIMIT);
m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.TURRET_RIGHT_SOFT_LIMIT); //Set second soft limit
m_boomBoomRotateMotor.setInverted(false);
}
private Gyro getGyroInterface() {
return null;
}
@Override
public void periodic() {
@@ -81,16 +78,18 @@ public class Turret extends SubsystemBase {
m_sDriveSubsystem = subsystem1;
}
public void runShooterWithInput(double input) {
public void runTurretWithInput(double input) { //Rename to turret
m_boomBoomRotateMotor.set(input*ShooterConstants.TURRET_SPEED_MULTIPLIER);
}
public void runshooterRotatePID(double targetAngle) {
public void runshooterRotatePID(double targetAngle) { //Split into configure and run
m_boomBoomRotatePIDController.setP(m_shooterTGains.m_kP);
m_boomBoomRotatePIDController.setI(m_shooterTGains.m_kI);
m_boomBoomRotatePIDController.setD(m_shooterTGains.m_kD);
m_boomBoomRotatePIDController.setFF(m_shooterTGains.m_kF);
m_boomBoomRotatePIDController.setIZone(m_shooterTGains.m_kIzone);
m_boomBoomRotatePIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterTGains.m_kPeakOutput);
targetAngle = targetAngle/ShooterConstants.DEGREES_PER_ROT;
@@ -111,16 +110,5 @@ public class Turret extends SubsystemBase {
public double getAnglePositionDegrees() {
return (m_boomBoomRotateEncoder.getPosition() - ShooterConstants.TURRET_MOTOR_POS_AT_ZERO_ROT) * 360/ShooterConstants. TURRET_MOTOR_ROTS_PER_ROT;
}
//function turnWithJoystick(double input)
// motor.set(input)
}
/** TODO
* setPosition function
* Limit switches
**/
}