smartdashboard shooter value

Team334 · Mar 22, 2024 · 5ff1d95 · 5ff1d95
1 parent 37ec652
commit 5ff1d95
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
@@ -83,6 +83,10 @@ public ShooterSubsystem() {
 
     _angleController.setTolerance(1);
 
+    // for resetting
+    // _angleEncoder.reset();
+    // _angleEncoder.setPositionOffset(_angleEncoder.getPositionOffset());
+
     _angleEncoder.setPositionOffset(Encoders.SHOOTER_ANGLE_OFFSET);
     _angleEncoder.setDistancePerRotation(1024);
   }
@@ -95,6 +99,7 @@ public void periodic() {
     // This method will be called once per scheduler run
     SmartDashboard.putNumber("SHOOTER SETPOINT", _angleController.getSetpoint());
     SmartDashboard.putNumber("SHOOTER ANGLE", getAngle());
+    SmartDashboard.putNumber("SHOOTER ANGLE ENCODER", _angleEncoder.getDistance());
     SmartDashboard.putNumber("SHOOTER PERCENT OUTPUT", _leftMotor.get());
     SmartDashboard.putNumber("SHOOTER ANGULAR VELOCITY", getAngularVelocity());
   }