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Messing with Turret and storage

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Not completly sure why the shooting actions arent happening in the right order
This commit is contained in:
ryan123rudder
2020-02-28 20:05:56 -07:00
parent 7c83d87085
commit b45f66b023
15 changed files with 85 additions and 35 deletions
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src/main/java/frc4388/robot/commands/TrackTarget.java
+6 -4
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@@ -51,7 +51,8 @@ public class TrackTarget extends CommandBase {
@Override
public void initialize() {
// Vision Processing Mode
LimeLight.limeOn();
NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0);
NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(3);
}
// Called every time the scheduler runs while the command is scheduled.
@@ -93,17 +94,18 @@ public class TrackTarget extends CommandBase {
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
// Drive Camera Mode
LimeLight.limeOff();
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
if (xAngle < 1 && xAngle > -1)
if (xAngle < 1 && xAngle > -1 && target == 1)
{
SmartDashboard.putBoolean("TrackTarget Finished", true);
return true;
}
SmartDashboard.putBoolean("TrackTarget Finished", false);
return false;
}
}