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/subsystems/Shooter.java
+4 -4
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@@ -57,7 +57,7 @@ public class Shooter extends SubsystemBase {
public Trims shooterTrims;
/*
* Creates a new Shooter subsystem.
* Creates a new Shooter subsystem, with the drum shooter and the angle adjsuter.
*/
public Shooter() {
//Testing purposes reseting gyros
@@ -100,8 +100,8 @@ public class Shooter extends SubsystemBase {
m_angleAdjustMotor.enableSoftLimit(SoftLimitDirection.kForward, true);
m_angleAdjustMotor.enableSoftLimit(SoftLimitDirection.kReverse, true);
m_angleAdjustMotor.setSoftLimit(SoftLimitDirection.kForward, 33);
m_angleAdjustMotor.setSoftLimit(SoftLimitDirection.kReverse, 3);
m_angleAdjustMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.HOOD_UP_SOFT_LIMIT);
m_angleAdjustMotor.setSoftLimit(SoftLimitDirection.kReverse, ShooterConstants.HOOD_DOWN_SOFT_LIMIT);
}
@@ -159,7 +159,7 @@ public class Shooter extends SubsystemBase {
*/
public void runDrumShooterVelocityPID(double targetVel, double actualVel) {
SmartDashboard.putNumber("shoot", actualVel);
if (actualVel < targetVel - 1000){
if (actualVel < targetVel - ShooterConstants.DRUM_RAMP_LIMIT){
m_shooterFalcon.set(TalonFXControlMode.PercentOutput, 1);//Ramp up
}
else{ //PID Based on targetVel