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ryan123rudder
2020-02-22 15:03:10 -07:00
parent 4888a4c08d
commit 881c3d9076
9 changed files with 23 additions and 73 deletions
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src/main/java/frc4388/robot/commands/TrackTarget.java
+2 -4
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@@ -40,7 +40,7 @@ public class TrackTarget extends CommandBase {
public TrackTarget(Shooter shooterSubsystem, ShooterAim aimSubsystem) {
m_shooterAim = aimSubsystem;
m_shooter = shooterSubsystem;
addRequirements(m_shooter);
addRequirements(m_shooterAim);
NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(1);
}
@@ -96,9 +96,7 @@ public class TrackTarget extends CommandBase {
// Returns true when the command should end.
@Override
public boolean isFinished() {
double upperLimit = xAngle + 0.05;
double lowerLimit = xAngle - 0.05;
if (xAngle < upperLimit && xAngle > lowerLimit)
if (xAngle < 1 && xAngle > -1)
{
return true;
}