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aarav18
2022-03-20 20:45:14 -06:00
parent 757f236752
commit ef037ed3d9
1 changed files with 12 additions and 7 deletions
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src/main/java/frc4388/robot/commands/ShooterCommands/Shoot.java
+12 -7
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@@ -106,12 +106,18 @@ public class Shoot extends CommandBase {
* Updates error for custom PID.
*/
public void updateError() {
// targetAngle = AimToCenter.aaravAngleToCenter(odoX, odoY, swerve.getRegGyro().getDegrees());
targetAngle = 0;
targetAngle = AimToCenter.aaravAngleToCenter(odoX, odoY, swerve.getRegGyro().getDegrees());
error = (targetAngle - turret.getBoomBoomAngleDegrees()) % 360;
// if (error > 180) {
// error = 360 - error; // TODO: error - 360
// this.inverted = -1; } else { this.inverted = 1; }
// error = error - 360;
// this.inverted = -1;
// } else {
// this.inverted = 1;
// }
if (error > 180) { error = error - 360; }
isAimedInTolerance = (Math.abs(error) <= tolerance);
}
@@ -122,7 +128,7 @@ public class Shoot extends CommandBase {
startTime = 0;
this.odoX = 0.9398;//-this.swerve.getOdometry().getY(); // 3.2766
this.odoY = -3.2766;//-this.swerve.getOdometry().getX(); // 0.9398
this.odoY = -3.2766;//-this.swerve.getOdometry().getX(); // -0.9398
this.distance = Math.hypot(odoX, odoY);
@@ -151,7 +157,7 @@ public class Shoot extends CommandBase {
this.integral = integral + (error * Constants.LOOP_TIME);
this.derivative = (error - prevError) / Constants.LOOP_TIME;
this.output = kP * proportional + kI * integral + kD * derivative;
this.normOutput = (output / 360) * inverted;
this.normOutput = (output / 360); // inverted;
}
// Called every time the scheduler runs while the command is scheduled.
@@ -165,7 +171,6 @@ public class Shoot extends CommandBase {
SmartDashboard.putNumber("Normalized Output", this.normOutput);
this.turret.runTurretWithCustomPID(normOutput);
// this.turret.m_boomBoomRotateMotor.set(normOutput);
this.swerve.driveWithInput(RobotContainer.getDriverController().getLeftX(), RobotContainer.getDriverController().getLeftY(), normOutput * (this.swerveGains.kP/this.turretGains.kP), true); // ? should the output be field relative
if (this.toShoot) {