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SHOOTER WORKS SEMI MANUAL

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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/HoodPositionPID.java
+4 -3
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@@ -31,9 +31,10 @@ public class HoodPositionPID extends CommandBase {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
double slope = ShooterConstants.HOOD_CONVERT_SLOPE;
double b = ShooterConstants.HOOD_CONVERT_B;
firingAngle = (-slope*m_shooterHood.addFireAngle())+b;
//double slope = ShooterConstants.HOOD_CONVERT_SLOPE;
//double b = ShooterConstants.HOOD_CONVERT_B;
//firingAngle = (-slope*m_shooterHood.addFireAngle())+b;
firingAngle = m_shooterHood.addFireAngle();
//SmartDashboard.putNumber("Shoot Angle From Equation", m_shooter.addFireAngle());
//SmartDashboard.putNumber("Fire Angle", firingAngle);
m_shooterHood.runAngleAdjustPID(firingAngle);