Team4388/RiseOfRidgebotics2020
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Shooter capabilities

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This commit is contained in:
aarav18
2020-02-15 10:25:26 -08:00
parent 4c257acfc1
commit 83e5fb4bc1
1 changed files with 8 additions and 7 deletions
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src/main/java/frc4388/robot/commands/TrackTarget.java
+8 -7
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@@ -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));