Team4388/RiseOfRidgebotics2020
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hood turret and tracking working

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This commit is contained in:
ryan123rudder
2020-02-29 18:42:37 -07:00
parent 7c9bdc030f
commit 493c4f69de
8 changed files with 184 additions and 35 deletions
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src/main/java/frc4388/robot/subsystems/ShooterAim.java
+17 -7
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@@ -14,9 +14,11 @@ import com.revrobotics.CANSparkMax;
import com.revrobotics.ControlType;
import com.revrobotics.CANDigitalInput.LimitSwitchPolarity;
import com.revrobotics.CANSparkMax.IdleMode;
import com.revrobotics.CANSparkMax.SoftLimitDirection;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Gains;
import frc4388.robot.Constants.ShooterConstants;
@@ -28,18 +30,24 @@ public class ShooterAim extends SubsystemBase {
// Configure PID Controllers
CANPIDController m_shooterRotatePIDController = m_shooterRotateMotor.getPIDController();
CANEncoder m_shooterRotateEncoder = m_shooterRotateMotor.getEncoder();
public CANEncoder m_shooterRotateEncoder = m_shooterRotateMotor.getEncoder();
/**
* Creates a new ShooterAim.
*/
public ShooterAim() {
resetGyroShooterRotate();
//resetGyroShooterRotate();
m_shooterRotateMotor.setIdleMode(IdleMode.kBrake);
m_shooterRightLimit = m_shooterRotateMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
m_shooterLeftLimit = m_shooterRotateMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
m_shooterLeftLimit = m_shooterRotateMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
m_shooterRightLimit = m_shooterRotateMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
m_shooterRightLimit.enableLimitSwitch(true);
m_shooterLeftLimit.enableLimitSwitch(true);
m_shooterRotateMotor.enableSoftLimit(SoftLimitDirection.kForward, false);
m_shooterRotateMotor.enableSoftLimit(SoftLimitDirection.kReverse, true);
m_shooterRotateMotor.setSoftLimit(SoftLimitDirection.kForward, -2);
m_shooterRotateMotor.setSoftLimit(SoftLimitDirection.kReverse, -56);
}
public void runShooterWithInput(double input) {
@@ -64,11 +72,13 @@ public class ShooterAim extends SubsystemBase {
m_shooterRotatePIDController.setReference(targetAngle, ControlType.kPosition);
}
/* For Testing Purposes, reseting gyro for shooter rotation */
public void resetGyroShooterRotate()
{
m_shooterRotateEncoder.setPosition(0);
m_shooterRotateEncoder.setPosition(0);
}
public double getShooterRotatePosition(){
return m_shooterRotateMotor.getEncoder().getPosition();
}
@Override