webcam

Team334 · Mar 14, 2024 · d490dc3 · d490dc3
1 parent 9152032
commit d490dc3
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Showing 2 changed files with 13 additions and 9 deletions.
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -36,11 +36,14 @@ 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();
+    // for (int port = 5800; port <= 5807; port++) {
+    //   PortForwarder.add(port, "limelight.local", port);
+    // }
+    PortForwarder.add(5800, "limelight.local", 5800);
+    PortForwarder.add(5801, "limelight.local", 5801);
+    PortForwarder.add(5805, "limelight.local", 5805);
+
+    CameraServer.startAutomaticCapture(0);
 
     // Instantiate our RobotContainer. This will perform all our button bindings,
     // and put our

diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
@@ -50,16 +50,17 @@ public ShooterSubsystem() {
     NeoConfig.configureFollowerNeo(_rightMotor, _leftMotor, true);
 
     TalonFXConfig.configureFalcon(_angleMotor, true);
-    _angleMotor.setPosition(67 * Constants.Physical.SHOOTER_ANGLE_GEAR_RATIO / 360);
+    _angleMotor.setPosition(69 * Constants.Physical.SHOOTER_ANGLE_GEAR_RATIO / 360);
+    // _angleMotor.setPosition(0);
 
     // soft limits
     SoftwareLimitSwitchConfigs softLimits = new SoftwareLimitSwitchConfigs();
 
-    softLimits.ForwardSoftLimitThreshold = 67 * Constants.Physical.SHOOTER_ANGLE_GEAR_RATIO / 360;
+    softLimits.ForwardSoftLimitThreshold = 69 * Constants.Physical.SHOOTER_ANGLE_GEAR_RATIO / 360;
     softLimits.ReverseSoftLimitThreshold = -25 * Constants.Physical.SHOOTER_ANGLE_GEAR_RATIO / 360;
 
-    softLimits.ForwardSoftLimitEnable = true;
-    softLimits.ReverseSoftLimitEnable = true;
+    softLimits.ForwardSoftLimitEnable = false;
+    softLimits.ReverseSoftLimitEnable = false;
 
     _angleMotor.getConfigurator().apply(softLimits);