From 2fd37f8236d1a43cffea0f9abb6a08ad7e0a905b Mon Sep 17 00:00:00 2001 From: ryan123rudder <42309874+ryan123rudder@users.noreply.github.com> Date: Sat, 15 Feb 2020 13:53:44 -0700 Subject: [PATCH] m --- src/main/java/frc4388/robot/RobotContainer.java | 2 +- src/main/java/frc4388/robot/commands/TrackTarget.java | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index bb2c59d..26c9ac9 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -110,7 +110,7 @@ public class RobotContainer { .whileHeld(new ShooterVelocityControlPID(m_robotShooter, 4000)); new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON) - .whileHeld(new TrackTarget(m_robotDrive, m_driverXbox)); + .whileHeld(new TrackTarget(m_robotShooter)); new JoystickButton(getOperatorJoystick(), XboxController.LEFT_BUMPER_BUTTON) .whenPressed(new RunExtenderOutIn(m_robotIntake)); diff --git a/src/main/java/frc4388/robot/commands/TrackTarget.java b/src/main/java/frc4388/robot/commands/TrackTarget.java index a1162b4..ba806a5 100644 --- a/src/main/java/frc4388/robot/commands/TrackTarget.java +++ b/src/main/java/frc4388/robot/commands/TrackTarget.java @@ -61,7 +61,7 @@ public class TrackTarget extends CommandBase { else if(turnAmount > 0 && turnAmount < VisionConstants.MOTOR_DEAD_ZONE){turnAmount = VisionConstants.MOTOR_DEAD_ZONE;} else if(turnAmount < 0 && turnAmount > -VisionConstants.MOTOR_DEAD_ZONE){turnAmount = -VisionConstants.MOTOR_DEAD_ZONE;} //m_drive.driveWithInput(m_driverController.getLeftYAxis(), turnAmount); - m_shooter.runShooterWithInput(turnAmount); + //m_shooter.runShooterWithInput(turnAmount); //Finding Distance distance = VisionConstants.TARGET_HEIGHT/Math.tan((VisionConstants.LIME_ANGLE + yAngle)*(Math.PI/180));