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odometry get in shoot

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aarav18
2022-03-01 18:49:20 -07:00
parent 3acd01255d
commit fab2e1e863
1 changed files with 3 additions and 2 deletions
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src/main/java/frc4388/robot/commands/Shoot.java
+3 -2
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@@ -74,8 +74,8 @@ public class Shoot extends CommandBase {
// Called when the command is initially scheduled. // Called when the command is initially scheduled.
@Override @Override
public void initialize() { public void initialize() {
m_odoX = 0; //TODO: get this value using odometry m_odoX = m_swerve.getOdometry().getX();
m_odoY = 0; //TODO: get this value using odometry m_odoY = m_swerve.getOdometry().getY();
m_distance = Math.sqrt(Math.pow(m_odoX, 2) + Math.pow(m_odoY, 2)); m_distance = Math.sqrt(Math.pow(m_odoX, 2) + Math.pow(m_odoY, 2));
m_gyroAngle = m_swerve.getRegGyro().getDegrees(); m_gyroAngle = m_swerve.getRegGyro().getDegrees();
@@ -148,6 +148,7 @@ public class Shoot extends CommandBase {
// custom pid // custom pid
runPID(); runPID();
m_swerve.driveWithInput(0, 0, output, true); m_swerve.driveWithInput(0, 0, output, true);
// m_swerve.driveWithInput(0, 0, Math.cos(output), Math.sin(output), true);
m_hood.runAngleAdjustPID(m_targetHood); m_hood.runAngleAdjustPID(m_targetHood);
m_boomBoom.runDrumShooterVelocityPID(m_targetVel); m_boomBoom.runDrumShooterVelocityPID(m_targetVel);