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/ShooterAim.java
+4 -4
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@@ -34,7 +34,7 @@ public class ShooterAim extends SubsystemBase {
/**
* Creates a new ShooterAim.
* Creates a subsytem for the turret aiming
*/
public ShooterAim() {
//resetGyroShooterRotate();
@@ -47,12 +47,12 @@ public class ShooterAim extends SubsystemBase {
m_shooterRotateMotor.enableSoftLimit(SoftLimitDirection.kForward, false);
m_shooterRotateMotor.enableSoftLimit(SoftLimitDirection.kReverse, true);
m_shooterRotateMotor.setSoftLimit(SoftLimitDirection.kForward, -2);
m_shooterRotateMotor.setSoftLimit(SoftLimitDirection.kReverse, -56);
m_shooterRotateMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.TURRET_RIGHT_SOFT_LIMIT);
m_shooterRotateMotor.setSoftLimit(SoftLimitDirection.kReverse, ShooterConstants.TURRET_LEFT_SOFT_LIMIT);
}
public void runShooterWithInput(double input) {
m_shooterRotateMotor.set(input/3);
m_shooterRotateMotor.set(input*ShooterConstants.TURRET_SPEED_MULTIPLIER);
}