all the changes I made during the first hour

Valor6800 · Apr 18, 2022 · 12a717f · 12a717f
1 parent d044007
commit 12a717f
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Showing 4 changed files with 10 additions and 14 deletions.
diff --git a/Competition/src/main/cpp/ValorAuto.cpp b/Competition/src/main/cpp/ValorAuto.cpp
@@ -1252,11 +1252,11 @@ ValorAuto::ValorAuto(Drivetrain *_drivetrain, Shooter *_shooter, Feeder *_feeder
     m_chooser.AddOption("RED 2 ball + 1 Defensive", shoot2RedAlt);
     m_chooser.AddOption("Blue 2 ball + 1 Defensive", shoot2BlueAlt);
 
-    m_chooser.AddOption("RED 2 ball + 2 Defensive", shoot2Def2Red);
-    m_chooser.AddOption("Blue 2 ball + 2 Defensive", shoot2Def2Blue);
+    m_chooser.AddOption("RED 2 ball + 2 Defensive :: ELIMS", shoot2Def2Red);
+    m_chooser.AddOption("Blue 2 ball + 2 Defensive :: ELIMS", shoot2Def2Blue);
 
-    m_chooser.AddOption("RED 2 ball + 2 Defensive :: NO COAST", shoot2Def2RedNoCoast);
-    m_chooser.AddOption("Blue 2 ball + 2 Defensive :: NO COAST", shoot2Def2BlueNoCoast);
+    m_chooser.AddOption("RED 2 ball + 2 Defensive :: QUALS", shoot2Def2RedNoCoast);
+    m_chooser.AddOption("Blue 2 ball + 2 Defensive :: QUALS", shoot2Def2BlueNoCoast);
 
 
 

diff --git a/Competition/src/main/cpp/subsystems/Shooter.cpp b/Competition/src/main/cpp/subsystems/Shooter.cpp
@@ -177,7 +177,7 @@ void Shooter::assessInputs()
     state.bButton = operatorController->GetBButtonPressed();
     state.driverLeftTrigger = driverController->GetLeftTriggerAxis() > 0.9;
     state.driverDPadUp = driverController->GetPOV() == OIConstants::dpadUp;
-    state.driverDPadLeft = driverController->GetPOV() == OIConstants::dpadLeft;
+    state.driverBButton = driverController->GetBButton();
 
     //Turret
     if (std::abs(state.leftStickX) > ShooterConstants::kDeadband) {
@@ -442,12 +442,4 @@ void Shooter::assignOutputs()
 
 void Shooter::assignTurret(double tg) {
     state.turretDesired = tg;
-    if(state.driverDPadLeft){
-        if (state.turretDesired < 90){
-            state.turretDesired += 15;
-        }
-        else{
-            state.turretDesired -= 15;
-        }
-    }
 }
diff --git a/Competition/src/main/cpp/subsystems/TurretTracker.cpp b/Competition/src/main/cpp/subsystems/TurretTracker.cpp
@@ -57,6 +57,10 @@ void TurretTracker::assignOutputs() {
         // 0.75 = limeligh KP
         state.target = (-state.cachedTx * 0.75) + turretPos;
 
+        if(shooter-> state.driverBButton){
+            state.target += 15;
+        }
+
         // state.target = -1 * robotHeading + state.cachedTurretPos;
         // atan2(drivetrain->getKinematics().ToChassisSpeeds().vx.to(<double>()), drivetrain->getPose_m().X());
 

diff --git a/Competition/src/main/include/subsystems/Shooter.h b/Competition/src/main/include/subsystems/Shooter.h
@@ -97,7 +97,7 @@ class Shooter : public ValorSubsystem
 
           bool driverLeftTrigger;
           bool driverDPadUp;
-          bool driverDPadLeft;
+          bool driverBButton;
           bool driverLastLeftTrigger;
 
           double limelightDistance;