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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/ShootFireGroup.java
+4 -1
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@@ -12,6 +12,7 @@ import edu.wpi.first.wpilibj2.command.RunCommand;
import frc4388.robot.commands.storage.StorageRun;
import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.ShooterAim;
import frc4388.robot.subsystems.ShooterHood;
import frc4388.robot.subsystems.Storage;
// NOTE: Consider using this command inline, rather than writing a subclass. For more
@@ -25,9 +26,11 @@ public class ShootFireGroup extends ParallelRaceGroup {
* @param m_storage The Storage subsytem
*/
public ShootFireGroup(Shooter m_shooter, ShooterAim m_shooterAim, Storage m_storage) {
ShooterHood m_shooterHood = m_shooter.m_shooterHoodSubsystem;
addCommands(
new RunCommand(() -> m_shooter.runDrumShooterVelocityPID(m_shooter.addFireVel())),
new RunCommand(() -> m_shooter.runAngleAdjustPID(m_shooter.addFireAngle())),
new RunCommand(() -> m_shooterHood.runAngleAdjustPID(m_shooterHood.addFireAngle())),
new HoldTarget(m_shooter, m_shooterAim),
new StorageRun(m_storage)
);