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Shooter firing

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ryan123rudder
2020-02-22 13:16:27 -07:00
parent 4564e0ebdb
commit 2b4324effd
6 changed files with 64 additions and 9 deletions
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src/main/java/frc4388/robot/commands/ShootFireGroup.java
+7 -6
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@@ -18,16 +18,17 @@ import frc4388.robot.subsystems.Storage;
// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
public class ShootFireGroup extends ParallelRaceGroup {
/**
* Creates a new ShootFireGroup.
* Fires the shooter
* @param m_shooter The Shooter subsytem
* @param m_shooterAim The ShooterAim subsystem
* @param m_storage The Storage subsytem
*/
public ShootFireGroup(Shooter m_shooter, ShooterAim m_shooterAim, Storage m_storage) {
// Add your commands in the super() call, e.g.
// super(new FooCommand(), new BarCommand());
super(
new ShooterVelocityControlPID(m_shooter, m_shooter.addFireVel()),
new RunCommand(() -> m_shooter.runAngleAdjustPID(m_shooter.addFireAngle())),
new TrackTarget(m_shooter, m_shooterAim)
new HoodAdjustPID(m_shooter),
new TrackTarget(m_shooter, m_shooterAim),
new StorageRun(m_storage)
);
}
}