From d44a35ca02fa24eb0027c39024095b3a6d23b612 Mon Sep 17 00:00:00 2001
From: aarav18 <57469559+aarav18@users.noreply.github.com>
Date: Thu, 23 Sep 2021 17:20:36 -0600
Subject: [PATCH] Update TrackTarget.java

---
 .../java/frc4388/robot/commands/shooter/TrackTarget.java | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java b/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java
index c41eb49..75c3bf5 100644
--- a/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java
+++ b/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java
@@ -66,6 +66,9 @@ public class TrackTarget extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
+    NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0);
+    NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(3);
+    NetworkTableInstance.getDefault().getTable("limelight").getEntry("pipeline").setNumber(0);
     target = NetworkTableInstance.getDefault().getTable("limelight").getEntry("tv").getDouble(0);
     xAngle = NetworkTableInstance.getDefault().getTable("limelight").getEntry("tx").getDouble(0);
     yAngle = NetworkTableInstance.getDefault().getTable("limelight").getEntry("ty").getDouble(0);
@@ -118,14 +121,14 @@ public class TrackTarget extends CommandBase {
     }
     else{
       //Sweeping
-      double turn = -0.5;
+      double turn = -0.0;
       if (m_shooterAim.getShooterRotatePosition() > ShooterConstants.TURRET_RIGHT_SOFT_LIMIT - 1)
       {
-        turn = -0.5;
+        turn = -0.0;
       }
       if (m_shooterAim.getShooterRotatePosition() < ShooterConstants.TURRET_LEFT_SOFT_LIMIT + 1)
       {
-        turn = 0.5;
+        turn = 0.0;
       }
       m_shooterAim.runShooterWithInput(turn);
     }