hood turret and tracking working

2026-06-09 00:38:00 -06:00 · 2020-02-29 18:42:37 -07:00
parent 7c9bdc030f
commit 493c4f69de
8 changed files with 184 additions and 35 deletions
@@ -0,0 +1,63 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot.commands;
+
+import com.revrobotics.CANSparkMax.SoftLimitDirection;
+
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.subsystems.Shooter;
+import frc4388.robot.subsystems.ShooterAim;
+
+public class CalibrateShooter extends CommandBase {
+  Shooter m_shooter;
+  ShooterAim m_shooterAim;
+  /**
+   * Creates a new CalibrateShooter.
+   */
+  public CalibrateShooter(Shooter shootSub, ShooterAim aimSub) {
+    m_shooter = shootSub;
+    m_shooterAim = aimSub;
+    addRequirements(m_shooter, m_shooterAim);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    m_shooter.m_angleAdjustMotor.enableSoftLimit(SoftLimitDirection.kForward, false);
+    m_shooter.m_angleAdjustMotor.enableSoftLimit(SoftLimitDirection.kReverse, false);
+    m_shooter.m_angleEncoder.setPosition(0);
+    m_shooter.m_angleAdjustMotor.set(-0.1);
+
+    m_shooterAim.m_shooterRotateMotor.enableSoftLimit(SoftLimitDirection.kForward, false);
+    m_shooterAim.m_shooterRotateMotor.enableSoftLimit(SoftLimitDirection.kReverse, false);
+    m_shooterAim.m_shooterRotateEncoder.setPosition(0);
+    m_shooterAim.m_shooterRotateMotor.set(0.075);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    m_shooter.m_angleAdjustMotor.enableSoftLimit(SoftLimitDirection.kForward, true);
+    m_shooter.m_angleAdjustMotor.enableSoftLimit(SoftLimitDirection.kReverse, true);
+
+    m_shooterAim.m_shooterRotateMotor.enableSoftLimit(SoftLimitDirection.kForward, true);
+    m_shooterAim.m_shooterRotateMotor.enableSoftLimit(SoftLimitDirection.kReverse, true);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}