From 83e5fb4bc1937d3d7bb49c749d925ebed37629e4 Mon Sep 17 00:00:00 2001
From: aarav18 <aaravshah18@gmail.com>
Date: Sat, 15 Feb 2020 10:25:26 -0800
Subject: [PATCH] Shooter capabilities

---
 .../java/frc4388/robot/commands/TrackTarget.java  | 15 ++++++++-------
 1 file changed, 8 insertions(+), 7 deletions(-)

diff --git a/src/main/java/frc4388/robot/commands/TrackTarget.java b/src/main/java/frc4388/robot/commands/TrackTarget.java
index 73f091c..a1162b4 100644
--- a/src/main/java/frc4388/robot/commands/TrackTarget.java
+++ b/src/main/java/frc4388/robot/commands/TrackTarget.java
@@ -9,6 +9,7 @@ package frc4388.robot.commands;
 
 import frc4388.robot.Constants.VisionConstants;
 import frc4388.robot.subsystems.Drive;
+import frc4388.robot.subsystems.Shooter;
 import frc4388.utility.controller.IHandController;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import edu.wpi.first.networktables.NetworkTable;
@@ -19,22 +20,21 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 public class TrackTarget extends CommandBase {
     //Setup
   NetworkTableEntry xEntry;
-  Drive m_drive;
+  Shooter m_shooter;
   IHandController m_driverController;
     //Aiming
   double turnAmount = 0;
   double xAngle = 0;
   double yAngle = 0;
   double target = 0;
-  double distance;
+  public double distance;
 
   /**
    * Uses the Limelight to track the target
    */
-  public TrackTarget(Drive driveSubsystem, IHandController driverController) {
-    m_drive = driveSubsystem;
-    addRequirements(m_drive);
-    m_driverController = driverController;
+  public TrackTarget(Shooter shooterSubsystem) {
+    m_shooter = shooterSubsystem;
+    addRequirements(m_shooter);
     NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(1);
   }
 
@@ -60,7 +60,8 @@ public class TrackTarget extends CommandBase {
         //Deadzones
       else if(turnAmount > 0 && turnAmount < VisionConstants.MOTOR_DEAD_ZONE){turnAmount = VisionConstants.MOTOR_DEAD_ZONE;} 
       else if(turnAmount < 0 && turnAmount > -VisionConstants.MOTOR_DEAD_ZONE){turnAmount = -VisionConstants.MOTOR_DEAD_ZONE;}
-      m_drive.driveWithInput(m_driverController.getLeftYAxis(), turnAmount);
+      //m_drive.driveWithInput(m_driverController.getLeftYAxis(), turnAmount);
+      m_shooter.runShooterWithInput(turnAmount);
 
         //Finding Distance
       distance = VisionConstants.TARGET_HEIGHT/Math.tan((VisionConstants.LIME_ANGLE + yAngle)*(Math.PI/180));