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SHOOTER WORKS SEMI MANUAL

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This commit is contained in:
ryan123rudder
2020-03-03 20:59:00 -07:00
parent b8a6e59fac
commit 2f6b219303
14 changed files with 71 additions and 47 deletions
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src/main/java/frc4388/robot/commands/shooter/CalibrateShooter.java
-5
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@@ -40,8 +40,6 @@ public class CalibrateShooter extends CommandBase {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
m_shooterHood.m_angleAdjustMotor.enableSoftLimit(SoftLimitDirection.kForward, false);
m_shooterHood.m_angleAdjustMotor.enableSoftLimit(SoftLimitDirection.kReverse, false);
m_shooterHood.m_angleEncoder.setPosition(0);
m_shooterHood.m_angleAdjustMotor.set(-ShooterConstants.HOOD_CALIBRATE_SPEED);
@@ -54,9 +52,6 @@ public class CalibrateShooter extends CommandBase {
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
m_shooterHood.m_angleAdjustMotor.enableSoftLimit(SoftLimitDirection.kForward, true);
m_shooterHood.m_angleAdjustMotor.enableSoftLimit(SoftLimitDirection.kReverse, true);
m_shooterAim.m_shooterRotateMotor.enableSoftLimit(SoftLimitDirection.kForward, true);
m_shooterAim.m_shooterRotateMotor.enableSoftLimit(SoftLimitDirection.kReverse, true);
}