Team4388/RiseOfRidgebotics2020
1
0
Fork 0
mirror of https://github.com/Team4388/RiseOfRidgebotics2020.git synced 2026-06-09 00:38:00 -06:00
Code Issues Packages Projects Releases Wiki Activity

Add ShooterHood Subsystem

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/subsystems/ShooterAim.java
+25 -15
View File
@@ -22,14 +22,15 @@ import frc4388.robot.Constants.ShooterConstants;
import frc4388.utility.Gains;
public class ShooterAim extends SubsystemBase {
public Shooter m_shooterSubsystem;
public CANSparkMax m_shooterRotateMotor = new CANSparkMax(ShooterConstants.SHOOTER_ROTATE_ID, MotorType.kBrushless);
public static Gains m_shooterTurretGains = ShooterConstants.SHOOTER_TURRET_GAINS;
CANDigitalInput m_shooterRightLimit, m_shooterLeftLimit;
// Configure PID Controllers
CANPIDController m_shooterRotatePIDController = m_shooterRotateMotor.getPIDController();
public CANEncoder m_shooterRotateEncoder = m_shooterRotateMotor.getEncoder();
// Configure PID Controllers
CANPIDController m_shooterRotatePIDController = m_shooterRotateMotor.getPIDController();
public CANEncoder m_shooterRotateEncoder = m_shooterRotateMotor.getEncoder();
/**
* Creates a subsytem for the turret aiming
@@ -49,6 +50,19 @@ public class ShooterAim extends SubsystemBase {
m_shooterRotateMotor.setSoftLimit(SoftLimitDirection.kReverse, ShooterConstants.TURRET_LEFT_SOFT_LIMIT);
}
@Override
public void periodic() {
// This method will be called once per scheduler run
}
/**
* Passes subsystem needed.
* @param subsystem Subsystem needed.
*/
public void passRequiredSubsystem(Shooter subsystem) {
m_shooterSubsystem = subsystem;
}
public void runShooterWithInput(double input) {
m_shooterRotateMotor.set(input*ShooterConstants.TURRET_SPEED_MULTIPLIER);
}
@@ -71,17 +85,13 @@ public class ShooterAim extends SubsystemBase {
m_shooterRotatePIDController.setReference(targetAngle, ControlType.kPosition);
}
public void resetGyroShooterRotate()
{
m_shooterRotateEncoder.setPosition(0);
}
public void resetGyroShooterRotate()
{
m_shooterRotateEncoder.setPosition(0);
}
public double getShooterRotatePosition(){
return m_shooterRotateMotor.getEncoder().getPosition();
}
@Override
public void periodic() {
// This method will be called once per scheduler run
public double getShooterRotatePosition()
{
return m_shooterRotateMotor.getEncoder().getPosition();
}
}