Team4388/RiseOfRidgebotics2020
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ryan123rudder
2020-03-01 00:41:23 -07:00
parent 272951ed67
commit d11083e560
17 changed files with 61 additions and 38 deletions
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src/main/java/frc4388/robot/commands/CalibrateShooter.java
+6 -3
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@@ -11,6 +11,7 @@ import com.revrobotics.CANSparkMax.SoftLimitDirection;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.Constants.ShooterConstants;
import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.ShooterAim;
@@ -18,7 +19,9 @@ public class CalibrateShooter extends CommandBase {
Shooter m_shooter;
ShooterAim m_shooterAim;
/**
* Creates a new CalibrateShooter.
* Calibrates the turret by moving the hood all the way down and moving the turret all the way right, then reseting the encoders
* @param shootSub The Shooter subsystem
* @param aimSub The ShooterAim subsystem
*/
public CalibrateShooter(Shooter shootSub, ShooterAim aimSub) {
m_shooter = shootSub;
@@ -37,12 +40,12 @@ public class CalibrateShooter extends CommandBase {
m_shooter.m_angleAdjustMotor.enableSoftLimit(SoftLimitDirection.kForward, false);
m_shooter.m_angleAdjustMotor.enableSoftLimit(SoftLimitDirection.kReverse, false);
m_shooter.m_angleEncoder.setPosition(0);
m_shooter.m_angleAdjustMotor.set(-0.1);
m_shooter.m_angleAdjustMotor.set(-ShooterConstants.HOOD_CALIBRATE_SPEED);
m_shooterAim.m_shooterRotateMotor.enableSoftLimit(SoftLimitDirection.kForward, false);
m_shooterAim.m_shooterRotateMotor.enableSoftLimit(SoftLimitDirection.kReverse, false);
m_shooterAim.m_shooterRotateEncoder.setPosition(0);
m_shooterAim.m_shooterRotateMotor.set(0.075);
m_shooterAim.m_shooterRotateMotor.set(ShooterConstants.TURRET_CALIBRATE_SPEED);
}
// Called once the command ends or is interrupted.