Team4388/RiseOfRidgebotics2020
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ryan123rudder
2020-02-15 13:53:44 -07:00
parent 83e5fb4bc1
commit 2fd37f8236
2 changed files with 2 additions and 2 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+1 -1
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@@ -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));
src/main/java/frc4388/robot/commands/TrackTarget.java
+1 -1
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@@ -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));