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Rework Command Groups to use Prep Checker

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This commit is contained in:
Keenan D. Buckley
2020-03-03 01:12:07 -07:00
parent 1b603d4f5d
commit 9288d2b934
13 changed files with 105 additions and 140 deletions
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src/main/java/frc4388/robot/commands/shooter/ShooterVelocityControlPID.java
+4 -4
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@@ -54,12 +54,12 @@ public class ShooterVelocityControlPID extends CommandBase {
double upperBound = m_targetVel + ShooterConstants.DRUM_VELOCITY_BOUND;
double lowerBound = m_targetVel - ShooterConstants.DRUM_VELOCITY_BOUND;
if (m_actualVel < upperBound && m_actualVel > lowerBound){
SmartDashboard.putBoolean("ShooterVelocityPID Finished", true);
return true;
m_shooter.m_isDrumReady = true;
}
else{
SmartDashboard.putBoolean("ShooterVelocityPID Finished", false);
return false;
m_shooter.m_isDrumReady = false;
}
return false;
}
}