pid okkey

Scorpions-Robotics · Mar 15, 2024 · 91189ae · 91189ae
1 parent 4f4510d
commit 91189ae
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Showing 3 changed files with 14 additions and 18 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -159,10 +159,10 @@ private void configureBindings() {
 new JoystickButton(subJoytick, 2).whileFalse(new InstantCommand(()->m_intake.StopNoteMotor()));
 
 //buton 3 Shooter Manuel subbuffer
-//new JoystickButton(subJoytick, 3).whileTrue(new VisionShooter(m_shooter, m_network));
-new JoystickButton(subJoytick, 3).whileTrue(new InstantCommand(()-> m_shooter.ShooterThrowMotorOutput(-1)));
-new JoystickButton(subJoytick, 3).whileFalse(new InstantCommand(()-> m_shooter.ShooterThrow1MotorStop()));
-new JoystickButton(subJoytick, 3).whileFalse(new InstantCommand(()-> m_shooter.ShooterThrow2MotorStop()));
+new JoystickButton(subJoytick, 3).whileTrue(new VisionShooter(m_shooter, m_network));
+new JoystickButton(subJoytick, 7).whileTrue(new InstantCommand(()-> m_shooter.ShooterThrowMotorOutput(-1)));
+new JoystickButton(subJoytick, 7).whileFalse(new InstantCommand(()-> m_shooter.ShooterThrow1MotorStop()));
+new JoystickButton(subJoytick, 7).whileFalse(new InstantCommand(()-> m_shooter.ShooterThrow2MotorStop()));
 
 //button 4 Shooter oto aim ve hız
 // new JoystickButton(subJoytick, 3).whileTrue(new ShooterSetDegree(m_shooter, ()->70.0));

diff --git a/src/main/java/frc/robot/commands/Shooter/VisionShooter.java b/src/main/java/frc/robot/commands/Shooter/VisionShooter.java
@@ -13,10 +13,10 @@ public VisionShooter(ShooterSubsystem m_shooter, NetworkSubsystem m_network) {
     super(
 
         new PIDController(0.004,
-            0,
+            0.01,
             Constants.values.shooter.PidShooterAngleKD),
         () -> m_network.getY(),
-        () -> -165,
+        () -> m_network.getTarget(),
         output -> {
          /*  try {
             m_shooter.ShooterAngleMotorOutput(output * .13);
@@ -26,11 +26,6 @@ public VisionShooter(ShooterSubsystem m_shooter, NetworkSubsystem m_network) {
             e.printStackTrace();
         }*/
 
-
-
-
-
-
   m_shooter.ShooterAngleMotorOutput(output * .13);
 });
 

diff --git a/src/main/java/frc/robot/subsystems/NetworkSubsystem.java b/src/main/java/frc/robot/subsystems/NetworkSubsystem.java
@@ -13,7 +13,7 @@ public class NetworkSubsystem extends SubsystemBase {
 
   double apriltag_x_value;
   double apriltag_y_value;
-  boolean has_apriltag_value;
+  double apriltag_target_value;
 
 
   public NetworkTableInstance inst = NetworkTableInstance.getDefault();
@@ -26,17 +26,17 @@ public class NetworkSubsystem extends SubsystemBase {
   //entry
   public NetworkTableEntry apriltag_x = networkTable.getEntry("apriltag_x");
   public NetworkTableEntry apriltag_y = networkTable.getEntry("apriltag_y");
-  public NetworkTableEntry has_apriltag = networkTable.getEntry("has_apriltag");
+  public NetworkTableEntry apriltag_target = networkTable.getEntry("apriltag_target");
 
   public NetworkSubsystem() {
    // inst.setServerTeam(7672);
     //inst.startServer("10.76.72.2");
     inst.setServerTeam(7672);
   }
 
-  public boolean hasApriltag(){
-    return has_apriltag_value;
-  }
+  public double getTarget(){
+    return apriltag_target_value;
+    }
 
   public double getX(){
     return apriltag_x_value;
@@ -50,9 +50,10 @@ public double getY(){
   public void periodic() {
     apriltag_x_value = apriltag_x.getDouble(0.0);
     apriltag_y_value = apriltag_y.getDouble(0.0);
-    has_apriltag_value = has_apriltag.getBoolean(false);
+    apriltag_target_value = apriltag_target.getDouble(0.0);
+
 
-    SmartDashboard.putBoolean("Has apriltag", has_apriltag_value);
+    SmartDashboard.putNumber("target", apriltag_target_value);
     SmartDashboard.putNumber("apriltag x value", apriltag_x_value);
     SmartDashboard.putNumber("apriltag y value", apriltag_y_value);
     SmartDashboard.putBoolean("connection",inst.isConnected());