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Merge branch 'master' into add-shooter

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This commit is contained in:
ryan123rudder
2020-02-26 17:36:43 -07:00
committed by GitHub
parent 1cc3aef303 03a9e063b9
commit 7c83d87085
15 changed files with 996 additions and 410 deletions
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src/main/java/frc4388/robot/subsystems/Shooter.java
+16
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@@ -24,6 +24,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Gains;
import frc4388.robot.Constants.ShooterConstants;
import frc4388.utility.ShooterTables;
import frc4388.utility.controller.IHandController;
public class Shooter extends SubsystemBase {
@@ -41,6 +42,9 @@ public class Shooter extends SubsystemBase {
double velP;
double input;
ShooterTables m_shooterTable;
public boolean velReached;
public double m_fireVel;
public double m_fireAngle;
@@ -65,6 +69,18 @@ public class Shooter extends SubsystemBase {
int closedLoopTimeMs = 1;
m_shooterFalcon.configClosedLoopPeriod(0, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalcon.configClosedLoopPeriod(1, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterTable = new ShooterTables();
SmartDashboard.putNumber("CSV 10", m_shooterTable.getVelocity(10));
SmartDashboard.putNumber("CSV 200", m_shooterTable.getVelocity(200));
SmartDashboard.putNumber("CSV 250", m_shooterTable.getVelocity(250));
SmartDashboard.putNumber("CSV 500", m_shooterTable.getVelocity(500));
SmartDashboard.putNumber("CSV A -30", m_shooterTable.getAngleDisplacement(-30));
SmartDashboard.putNumber("CSV A 10", m_shooterTable.getAngleDisplacement(10));
SmartDashboard.putNumber("CSV A 5", m_shooterTable.getAngleDisplacement(5));
SmartDashboard.putNumber("CSV A 30", m_shooterTable.getAngleDisplacement(30));
}
@Override