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Rishabh
2020-02-22 12:06:14 -07:00
parent 5534ff6ef2
commit 6c8a1dffb3
2 changed files with 58 additions and 2 deletions
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src/main/java/frc4388/robot/commands/ShootFireGroup.java
+12 -2
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@@ -8,6 +8,10 @@
package frc4388.robot.commands;
import edu.wpi.first.wpilibj2.command.ParallelRaceGroup;
import edu.wpi.first.wpilibj2.command.RunCommand;
import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.ShooterAim;
import frc4388.robot.subsystems.Storage;
// NOTE: Consider using this command inline, rather than writing a subclass. For more
// information, see:
@@ -16,9 +20,15 @@ public class ShootFireGroup extends ParallelRaceGroup {
/**
* Creates a new ShootFireGroup.
*/
public ShootFireGroup() {
public ShootFireGroup(Shooter m_shooter, ShooterAim m_shooterAim, Storage m_storage) {
// Add your commands in the super() call, e.g.
// super(new FooCommand(), new BarCommand());
super();
super(
new ShooterVelocityControlPID(m_shooter, m_shooter.addFireVel()),
new RunCommand(() -> m_shooter.runAngleAdjustPID(m_shooter.addFireAngle())),
new TrackTarget(m_shooter, m_shooterAim),
new
);
}
}