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

Messing with Turret and storage

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/subsystems/ShooterAim.java
+9 -1
View File
@@ -7,10 +7,12 @@
package frc4388.robot.subsystems;
import com.revrobotics.CANDigitalInput;
import com.revrobotics.CANEncoder;
import com.revrobotics.CANPIDController;
import com.revrobotics.CANSparkMax;
import com.revrobotics.ControlType;
import com.revrobotics.CANDigitalInput.LimitSwitchPolarity;
import com.revrobotics.CANSparkMax.IdleMode;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
@@ -22,6 +24,7 @@ import frc4388.robot.Constants.ShooterConstants;
public class ShooterAim extends SubsystemBase {
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();
@@ -32,10 +35,15 @@ public class ShooterAim extends SubsystemBase {
public ShooterAim() {
resetGyroShooterRotate();
m_shooterRotateMotor.setIdleMode(IdleMode.kBrake);
m_shooterRightLimit = m_shooterRotateMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
m_shooterLeftLimit = m_shooterRotateMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
m_shooterRightLimit.enableLimitSwitch(true);
m_shooterLeftLimit.enableLimitSwitch(true);
}
public void runShooterWithInput(double input) {
m_shooterRotateMotor.set(input);
m_shooterRotateMotor.set(input/3);
}