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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/TrackTarget.java
+4 -1
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@@ -14,6 +14,7 @@ import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.Constants.VisionConstants;
import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.ShooterAim;
import frc4388.robot.subsystems.ShooterHood;
import frc4388.utility.controller.IHandController;
public class TrackTarget extends CommandBase {
@@ -33,6 +34,7 @@ public class TrackTarget extends CommandBase {
public double m_hoodTrim;
public double m_turretTrim;
private ShooterHood m_shooterHood;
/**
* Uses the Limelight to track the target
@@ -42,6 +44,7 @@ public class TrackTarget extends CommandBase {
public TrackTarget(Shooter shooterSubsystem, ShooterAim aimSubsystem) {
m_shooterAim = aimSubsystem;
m_shooter = shooterSubsystem;
m_shooterHood = m_shooter.m_shooterHoodSubsystem;
addRequirements(m_shooterAim);
NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(1);
}
@@ -97,7 +100,7 @@ public class TrackTarget extends CommandBase {
m_shooter.m_fireVel = fireVel;
m_shooter.m_fireAngle = fireAngle;// + m_shooter.shooterTrims.m_hoodTrim;
m_shooterHood.m_fireAngle = fireAngle;// + m_shooter.shooterTrims.m_hoodTrim;
}
}