Team4388/RiseOfRidgebotics2020
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Added 6BallTop fully and set framework for two others

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This commit is contained in:
ryan123rudder
2021-09-21 20:35:05 -06:00
parent 37632212be
commit ace6170848
49 changed files with 13250 additions and 62 deletions
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src/main/java/frc4388/robot/commands/shooter/TrackTarget.java
+14
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@@ -11,6 +11,7 @@ import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.Constants.ShooterConstants;
import frc4388.robot.Constants.VisionConstants;
import frc4388.robot.subsystems.LimeLight;
import frc4388.robot.subsystems.Shooter;
@@ -115,6 +116,19 @@ public class TrackTarget extends CommandBase {
m_shooterHood.m_fireAngle = fireAngle;// + m_shooter.shooterTrims.m_hoodTrim;
m_shooterAim.m_targetDistance = distance;
}
else{
//Sweeping
double turn = -0.5;
if (m_shooterAim.getShooterRotatePosition() > ShooterConstants.TURRET_RIGHT_SOFT_LIMIT - 1)
{
turn = -0.5;
}
if (m_shooterAim.getShooterRotatePosition() < ShooterConstants.TURRET_LEFT_SOFT_LIMIT + 1)
{
turn = 0.5;
}
m_shooterAim.runShooterWithInput(turn);
}
}
// Called once the command ends or is interrupted.