Team4388/RiseOfRidgebotics2020
1
0
Fork 0
mirror of https://github.com/Team4388/RiseOfRidgebotics2020.git synced 2026-06-09 00:38:00 -06:00
Code Issues Packages Projects Releases Wiki Activity

Update TrackTarget.java

Browse Source
This commit is contained in:
aarav18
2021-09-23 17:20:36 -06:00
parent f0cfe17175
commit d44a35ca02
1 changed files with 6 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/commands/shooter/TrackTarget.java
+6 -3
View File
@@ -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);
}