hood turret and tracking working

src/main/java/frc4388/robot/commands/HoodPositionPID.java

@@ -0,0 +1,48 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.subsystems.Shooter;
+
+public class HoodPositionPID extends CommandBase {
+  Shooter m_shooter;
+  /**
+   * Creates a new HoodPositionPID.
+   */
+  public HoodPositionPID(Shooter subSystem) {
+    m_shooter = subSystem;
+    addRequirements(m_shooter);
+  }
+
+  // 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() {
+    double firingAngle = (-0.47*m_shooter.addFireAngle())+40.5;
+    SmartDashboard.putNumber("Shoot Angle From Equation", m_shooter.addFireAngle());
+    SmartDashboard.putNumber("Fire Angle", firingAngle);
+    m_shooter.runAngleAdjustPID(firingAngle);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}