Team4388/RiseOfRidgebotics2020
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Removed trimming, started using keenans equation for angle

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ryan123rudder
2020-03-03 00:42:34 -07:00
parent ddf18c3a93
commit 694ab7482f
5 changed files with 10 additions and 17 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+3 -7
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@@ -216,7 +216,7 @@ public class RobotContainer {
//.whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotStorage))
//.whenReleased(new StoragePrepIntake(m_robotIntake, m_robotStorage));
//.whileHeld(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(13000)));
.whileHeld(new HoldTarget(m_robotShooter, m_robotShooterAim))
.whileHeld(new TrackTarget(m_robotShooter, m_robotShooterAim))
.whileHeld(new RunCommand(() -> m_robotShooter.runAngleAdjustPID(30)));
//Prepares storage for intaking
//new JoystickButton(getOperatorJoystick(), XboxController.LEFT_TRIGGER_AXIS)
@@ -229,12 +229,8 @@ public class RobotContainer {
//Run drum
new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
//.whenPressed(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotStorage));
.whenPressed(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(13000)));
//.whenReleased(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(0)));
//Trims shooter
new JoystickButton(getOperatorJoystick(), XboxController.TOP_BOTTOM_DPAD_AXIS)
.whenPressed(new TrimShooter(m_robotShooter));
.whenPressed(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(13000)))
.whenReleased(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(0)));
//Calibrates turret and hood
new JoystickButton(getOperatorJoystick(), XboxController.START_BUTTON)