changed shooter start positio

Team334 · Mar 14, 2024 · 9152032 · 9152032
1 parent c9c691a
commit 9152032
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Showing 2 changed files with 11 additions and 4 deletions.
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -2,6 +2,7 @@
 package frc.robot;
 
 import edu.wpi.first.cameraserver.CameraServer;
+import edu.wpi.first.net.PortForwarder;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -35,6 +36,10 @@ public void robotInit() {
     // FIRST THING THAT HAPPENS
     addPeriodic(() -> AllianceHelper.getInstance().updateAlliance(DriverStation.getAlliance()), 0.5);
 
+    for (int port = 5800; port <= 5807; port++) {
+      PortForwarder.add(port, "limelight.local", port);
+    }
+
     // CameraServer.startAutomaticCapture();
 
     // Instantiate our RobotContainer. This will perform all our button bindings,

diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
@@ -50,15 +50,16 @@ public ShooterSubsystem() {
     NeoConfig.configureFollowerNeo(_rightMotor, _leftMotor, true);
 
     TalonFXConfig.configureFalcon(_angleMotor, true);
-
+    _angleMotor.setPosition(67 * Constants.Physical.SHOOTER_ANGLE_GEAR_RATIO / 360);
+
     // soft limits
     SoftwareLimitSwitchConfigs softLimits = new SoftwareLimitSwitchConfigs();
 
-    softLimits.ForwardSoftLimitThreshold = 55 * Constants.Physical.SHOOTER_ANGLE_GEAR_RATIO / 360;
+    softLimits.ForwardSoftLimitThreshold = 67 * Constants.Physical.SHOOTER_ANGLE_GEAR_RATIO / 360;
     softLimits.ReverseSoftLimitThreshold = -25 * Constants.Physical.SHOOTER_ANGLE_GEAR_RATIO / 360;
 
-    softLimits.ForwardSoftLimitEnable = false;
-    softLimits.ReverseSoftLimitEnable = false;
+    softLimits.ForwardSoftLimitEnable = true;
+    softLimits.ReverseSoftLimitEnable = true;
 
     _angleMotor.getConfigurator().apply(softLimits);
 
@@ -104,6 +105,7 @@ public double getVelocity() {
    */
   public void driveAngle(double speed) {
     _angleMotor.set(UtilFuncs.FromVolts(_angleFeed.calculate(Math.toRadians(getAngle()), 0)) + speed);
+    // _angleMotor.set(speed);
   }
 
   /** Stops the shooter's angular movement. */