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Added Neo PID loops to Shooter Subsystem for angle adjustment and rotating the shooter

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mayabartels
2020-02-11 16:09:31 -08:00
parent c94de7fdc6
commit 5bb1dbc397
3 changed files with 60 additions and 1 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+7
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@@ -134,6 +134,13 @@ public class RobotContainer {
// interrupts any running command
new JoystickButton(getDriverJoystick(), XboxController.LEFT_JOYSTICK_BUTTON)
.whenPressed(new InstantCommand(() -> System.out.print("Gamer"), m_robotDrive));
/* TEST shooter rotate PIDs */
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whileHeld(new RunCommand(() -> m_robotShooter.runAngleAdjustPID(360, 0.2, 0.0, 0.0, 0.0, 0.0, 1, -1)));
new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
.whileHeld(new RunCommand(() -> m_robotShooter.runshooterRotatePID(360, 0.2, 0.0, 0.0, 0.0, 0.0, 1, -1)));
/* TEST for both commands above */
}
/**