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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/ShooterVelocityControlPID.java
+7 -3
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@@ -11,18 +11,22 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.Constants.ShooterConstants;
import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.ShooterHood;
public class ShooterVelocityControlPID extends CommandBase {
Shooter m_shooter;
double m_targetVel;
double m_actualVel;
private ShooterHood m_shooterHood;
/**
* Runs the drum at a velocity
* @param subsystem The Shooter subsytem
*/
public ShooterVelocityControlPID(Shooter subsystem) {
public ShooterVelocityControlPID(Shooter subsystem, ShooterHood subHood) {
m_shooter = subsystem;
addRequirements(m_shooter);
m_shooterHood = subHood;
addRequirements(m_shooter, m_shooterHood);
}
// Called when the command is initially scheduled.
@@ -35,7 +39,7 @@ public class ShooterVelocityControlPID extends CommandBase {
@Override
public void execute() {
m_shooter.runDrumShooterVelocityPID(/*m_shooter.addFireVel()*/13000);
m_shooter.runAngleAdjustPID(m_shooter.addFireAngle());
m_shooterHood.runAngleAdjustPID(m_shooterHood.addFireAngle());
//SmartDashboard.putNumber("Fire Velocity", m_shooter.addFireVel());
//SmartDashboard.putNumber("Fire Angle", m_shooter.addFireAngle());
}