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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/subsystems/Storage.java
+9 -1
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@@ -20,12 +20,13 @@ import com.revrobotics.CANDigitalInput.LimitSwitchPolarity;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.command.WaitUntilCommand;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Gains;
import frc4388.robot.Constants.StorageConstants;
public class Storage extends SubsystemBase {
private CANSparkMax m_storageMotor = new CANSparkMax(StorageConstants.STORAGE_CAN_ID, MotorType.kBrushless);
public CANSparkMax m_storageMotor = new CANSparkMax(StorageConstants.STORAGE_CAN_ID, MotorType.kBrushless);
private DigitalInput[] m_beamSensors = new DigitalInput[6];
CANPIDController m_storagePIDController = m_storageMotor.getPIDController();
@@ -69,6 +70,11 @@ public class Storage extends SubsystemBase {
m_encoder.setPosition(0);
}
public void testBeams(){
SmartDashboard.putBoolean("Beam 0", m_beamSensors[0].get());
SmartDashboard.putBoolean("Beam 1", m_beamSensors[1].get());
}
/* Storage PID Control */
public void runStoragePositionPID(double targetPos){
// Set PID Coefficients
@@ -79,6 +85,8 @@ public class Storage extends SubsystemBase {
m_storagePIDController.setFF(storageGains.m_kF);
m_storagePIDController.setOutputRange(StorageConstants.STORAGE_MIN_OUTPUT, storageGains.m_kmaxOutput);
SmartDashboard.putNumber("Storage Position PID Target", targetPos);
SmartDashboard.putNumber("Storage Position Pos", getEncoderPos());
m_storagePIDController.setReference(targetPos, ControlType.kPosition);
}