Team4388/RiseOfRidgebotics2020
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This commit is contained in:
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/ShooterVelocityControlPID.java
+5 -5
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@@ -9,6 +9,7 @@ package frc4388.robot.commands;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.Constants.ShooterConstants;
import frc4388.robot.subsystems.Shooter;
public class ShooterVelocityControlPID extends CommandBase {
@@ -16,9 +17,8 @@ public class ShooterVelocityControlPID extends CommandBase {
double m_targetVel;
double m_actualVel;
/**
* Creates a new ShooterVelocityControlPID.
* Runs the drum at a velocity
* @param subsystem The Shooter subsytem
* @param targetVel The target velocity
*/
public ShooterVelocityControlPID(Shooter subsystem) {
m_shooter = subsystem;
@@ -48,9 +48,9 @@ public class ShooterVelocityControlPID extends CommandBase {
// Returns true when the command should end.
@Override
public boolean isFinished() {
//Tells wether the target velocity has been reached
double upperBound = m_targetVel + 300;
double lowerBound = m_targetVel - 300;
//Tells whether the target velocity has been reached
double upperBound = m_targetVel + ShooterConstants.DRUM_VELOCITY_BOUND;
double lowerBound = m_targetVel - ShooterConstants.DRUM_VELOCITY_BOUND;
if (m_actualVel < upperBound && m_actualVel > lowerBound){
SmartDashboard.putBoolean("ShooterVelocityPID Finished", true);
return true;