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Tune Shooter and Work on DriverStation

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This commit is contained in:
Keenan D. Buckley
2020-03-11 08:26:27 -06:00
parent 7efbea847a
commit a1632fa688
5 changed files with 423 additions and 91 deletions
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src/main/java/frc4388/robot/commands/shooter/ShooterVelocityControlPID.java
+12 -11
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@@ -34,7 +34,18 @@ public class ShooterVelocityControlPID extends CommandBase {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
m_shooter.runDrumShooterVelocityPID(m_shooter.addFireVel());
//Tells whether the target velocity has been reached
m_actualVel = m_shooter.m_shooterFalcon.getSelectedSensorPosition();
m_targetVel = m_shooter.addFireVel();
double error = m_actualVel - m_targetVel;
if (Math.abs(error) < ShooterConstants.DRUM_VELOCITY_BOUND){
m_shooter.m_isDrumReady = true;
m_shooter.runDrumShooterVelocityPID(m_targetVel);
}
else{
m_shooter.m_isDrumReady = false;
m_shooter.runDrumShooterVelocityPID(m_targetVel);
}
}
// Called once the command ends or is interrupted.
@@ -45,16 +56,6 @@ public class ShooterVelocityControlPID extends CommandBase {
// Returns true when the command should end.
@Override
public boolean isFinished() {
//Tells whether the target velocity has been reached
double upperBound = m_targetVel + ShooterConstants.DRUM_VELOCITY_BOUND;
double lowerBound = m_targetVel - ShooterConstants.DRUM_VELOCITY_BOUND;
if (m_actualVel < upperBound && m_actualVel > lowerBound){
m_shooter.m_isDrumReady = true;
}
else{
m_shooter.m_isDrumReady = false;
}
return false;
}
}