Team_2648/2026-Robot-Code
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good flywheel and hood control

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This commit is contained in:
Tylr-J42
2026-03-01 19:15:36 -05:00
parent db443cfe63
commit fb937d86dc
5 changed files with 28 additions and 15 deletions
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6
src/main/java/frc/robot/subsystems/Hood.java
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@@ -43,6 +43,7 @@ public class Hood extends SubsystemBase {
);
encoder = motor.getEncoder();
encoder.setPosition(HoodConstants.kStartupAngle);
controller = motor.getClosedLoopController();
@@ -68,9 +69,10 @@ public class Hood extends SubsystemBase {
@Override
public void periodic() {
Logger.recordOutput("Hood/OutputCurrent", motor.getOutputCurrent());
Logger.recordOutput("Hood/CurrentTarget", currentTargetDegrees);
Logger.recordOutput("Hood/CurrentAngle", encoder.getPosition());
Logger.recordOutput("Hood/CurrentTarget", Math.toDegrees(currentTargetDegrees));
Logger.recordOutput("Hood/CurrentAngle", Math.toDegrees(encoder.getPosition()));
Logger.recordOutput("Hood/AtSetpoint", controller.isAtSetpoint());
Logger.recordOutput("Hood/VoltageOut", motor.getAppliedOutput()*motor.getBusVoltage());
}
public Command trackToAngle(DoubleSupplier degreeAngleSupplier) {