added adjust shooter angle button

Team334 · Apr 6, 2024 · 7c7feb8 · 7c7feb8
1 parent 8515564
commit 7c7feb8
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Showing 2 changed files with 12 additions and 0 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -182,6 +182,8 @@ private void configureBindings() {
       )
     );
 
+    _operatorController.povDown().whileTrue(new SetShooter(_shooterSubsystem, _shooterSubsystem::adjustedAngle));
+
     // driver bindings
     _driveController.L1().onTrue(Commands.runOnce(_swerveSubsystem::toggleSpeed, _swerveSubsystem));
     _driveController.R1().onTrue(Commands.runOnce(() -> _swerveSubsystem.fieldOriented = !_swerveSubsystem.fieldOriented, _swerveSubsystem));

diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
@@ -55,6 +55,7 @@ public class ShooterSubsystem extends SubsystemBase {
   private final Timer _revTimer = new Timer();
 
   private double _shooterTrim = 0;
+  private double _shooterAdjust = 0;
 
   private boolean _holdNote = false;
 
@@ -94,6 +95,7 @@ public ShooterSubsystem() {
     _angleController.setTolerance(2.5);
 
     SmartDashboard.putNumber("SHOOTER TRIM", _shooterTrim);
+    SmartDashboard.putNumber("SHOOTER ADJUST", _shooterAdjust);
   }
 
   @Override
@@ -110,6 +112,14 @@ public void periodic() {
     SmartDashboard.putBoolean("SHOOTER REVVED", isRevved());
 
     _shooterTrim = SmartDashboard.getNumber("SHOOTER TRIM", _shooterTrim);
+    _shooterAdjust = SmartDashboard.getNumber("SHOOTER ADJUST", _shooterAdjust);
+  }
+
+  /**
+   * Returns the adjusted shooter angle.
+   */
+  public double adjustedAngle() {
+    return getAngle() + _shooterAdjust;
   }
 
   // for resetting the shooter's angle