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Add ShooterHood Subsystem

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This commit is contained in:
Keenan D. Buckley
2020-03-02 23:56:05 -07:00
parent 6d501b6bb9
commit 8f6578a47b
11 changed files with 179 additions and 93 deletions
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src/main/java/frc4388/robot/commands/shooter/HoodPositionPID.java
+7 -6
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@@ -10,16 +10,17 @@ package frc4388.robot.commands.shooter;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.ShooterHood;
public class HoodPositionPID extends CommandBase {
Shooter m_shooter;
double firingAngle;
private ShooterHood m_shooterHood;
/**
* Creates a new HoodPositionPID.
*/
public HoodPositionPID(Shooter subSystem) {
m_shooter = subSystem;
//addRequirements(m_shooter);
public HoodPositionPID(ShooterHood subSystem) {
m_shooterHood = subSystem;
addRequirements(m_shooterHood);
}
// Called when the command is initially scheduled.
@@ -35,7 +36,7 @@ public class HoodPositionPID extends CommandBase {
firingAngle = (-slope*m_shooter.addFireAngle())+b;*/
//SmartDashboard.putNumber("Shoot Angle From Equation", m_shooter.addFireAngle());
//SmartDashboard.putNumber("Fire Angle", firingAngle);
m_shooter.runAngleAdjustPID(firingAngle);
m_shooterHood.runAngleAdjustPID(firingAngle);
}
// Called once the command ends or is interrupted.
@@ -46,7 +47,7 @@ public class HoodPositionPID extends CommandBase {
// Returns true when the command should end.
@Override
public boolean isFinished() {
double encoderPos = m_shooter.m_angleAdjustMotor.getEncoder().getPosition();
double encoderPos = m_shooterHood.m_angleAdjustMotor.getEncoder().getPosition();
if(encoderPos < firingAngle + 1 || encoderPos < firingAngle - 1){
return false;
}