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Corrected error in hood setting polarity

This commit is contained in:
Scott Jackson 2026-09-29 14:45:07 -04:00
parent 1dd99e305f
commit 6cdab34757
1 changed files with 19 additions and 12 deletions
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31
src/main/java/frc/robot/subsystems/TurretSubsystem.java
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@ -170,26 +170,33 @@ public class TurretSubsystem extends TestableSubsystem {
/**
* Sets the launch (hood) angle when the target angle is known, in degrees.
* Does nothing if the requested angle is outside the hood's limits.
* @param angleDegrees the commanded motor speed in RPM
* @return nothing
*/
public void setHoodToLaunchAngle(int angleDegrees)
{
// Confirm target is within expected range. If not, do nothing.
if ((angleDegrees < Constants.ShooterConstants.HOOD_ANGLE_MIN_DEG) ||
(angleDegrees > Constants.ShooterConstants.HOOD_ANGLE_MAX_DEG)) {
return;
}
// Grab min and max values to simplify the expressions and ensure precision
double minAngle = (double) Constants.ShooterConstants.HOOD_ANGLE_MIN_DEG;
double maxAngle = (double) Constants.ShooterConstants.HOOD_ANGLE_MAX_DEG;
// Grab min and max values as doubles to simplify the expressions and ensure precision.
int minAngle = Constants.ShooterConstants.HOOD_ANGLE_MIN_DEG;
int maxAngle = Constants.ShooterConstants.HOOD_ANGLE_MAX_DEG;
// Map so that min angle maps to "1" and max angle maps to "0."
double pos = (maxAngle - angleDegrees) / (maxAngle - minAngle);
// Confirm target is within expected range. If not, do nothing.
if ((angleDegrees <= maxAngle) &&
(angleDegrees >= minAngle)) {
// Map so that min angle maps to "0" and max angle maps to "1."
// The min angle corresponds to the hood's tallest physical position.
double pos = (double)(angleDegrees - minAngle) / (maxAngle - minAngle);
// Actuate the hood.
hood.set(pos);
} else {
// Set pos to an invalid value so the error is visible through the Logger.
pos = -1.0;
}
Logger.recordOutput("ShooterHood-Angle", pos);
hood.set(pos);
}