FairportRobotics
/
Castor2026
mirror of https://github.com/FairportRobotics/Castor2026.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

HOMEEEEEEEEEEEEEEEE

This commit is contained in:
Team578 Driver Station 2026-04-17 18:40:16 -04:00
parent 1280197ccf
commit 3f01a07548
1 changed files with 28 additions and 21 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
src/main/java/frc/robot/subsystems/TurretSubsystem.java
View File

@ -203,8 +203,12 @@ public class TurretSubsystem extends TestableSubsystem {
@Override @Override
public void periodic() { public void periodic() {
if(turretState == TurretState.HOMING) if(turretState == TurretState.HOMING)
{
while(turretState != TurretState.READY)
{
long start = System.currentTimeMillis();
while(System.currentTimeMillis()-1000<start)
{ {
if(turretLimitSwitch.get()) if(turretLimitSwitch.get())
{ // Turret has tripped the switch { // Turret has tripped the switch
@ -229,6 +233,9 @@ public class TurretSubsystem extends TestableSubsystem {
// setTurretMotorRotation(-0.34); // Return to 0 after MIAMI VALLEY // setTurretMotorRotation(-0.34); // Return to 0 after MIAMI VALLEY
} }
} }
turretMotor.set((turretMotor.get()*-1));
}
}
if(LOGGING) if(LOGGING)
{ {