a few more preference additions

2491-NoMythic · Feb 27, 2024 · aca9d95 · aca9d95
1 parent 9823b2e
commit aca9d95
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Showing 2 changed files with 11 additions and 5 deletions.
diff --git a/src/main/java/frc/robot/settings/Constants.java b/src/main/java/frc/robot/settings/Constants.java
@@ -259,8 +259,9 @@ public static final class ShooterConstants{
   public static final double DEGREES_PER_ROTATION = 360;
   public static final double DISTANCE_MULTIPLIER = 0.15;
   public static final double OFFSET_MULTIPLIER = 1;
-  public static final double MINIMUM_SHOOTER_ANGLE = 10;//still has to be found
-  public static final double MAXIMUM_SHOOTER_ANGLE = 108;//still has to be found
+  public static final double MINIMUM_SHOOTER_ANGLE = 11.64;//still has to be found
+  public static final double COMP_MAXIMUM_SHOOTER_ANGLE = 101;//still has to be found
+  public static final double PRAC_MAXIMUM_SHOOTER_ANGLE = 108;//still has to be found
   public static final double HUMAN_PLAYER_ANGLE = 97;//still has to be found
   public static final double HUMAN_PLAYER_RPS = -10;//still has to be found
 

diff --git a/src/main/java/frc/robot/subsystems/AngleShooterSubsystem.java b/src/main/java/frc/robot/subsystems/AngleShooterSubsystem.java
@@ -2,6 +2,7 @@
 
 import frc.robot.settings.Constants.Field;
 import frc.robot.settings.Constants.ShooterConstants;
+import pabeles.concurrency.IntOperatorTask.Max;
 
 import java.util.Optional;
 
@@ -62,7 +63,11 @@ public AngleShooterSubsystem() {
 	}
 
 	public void setDesiredShooterAngle(double degrees) {
-		if(degrees>MAXIMUM_SHOOTER_ANGLE) {degrees = MAXIMUM_SHOOTER_ANGLE;}
+		double MaxAngle = COMP_MAXIMUM_SHOOTER_ANGLE;
+		if(!Preferences.getBoolean("CompBot", true)) {
+			MaxAngle = PRAC_MAXIMUM_SHOOTER_ANGLE;
+		}
+		if(degrees>MaxAngle) {degrees = COMP_MAXIMUM_SHOOTER_ANGLE;}
 		if(degrees<MINIMUM_SHOOTER_ANGLE) {degrees = MINIMUM_SHOOTER_ANGLE;}
 		pitchPID.setFF(Math.cos(Math.toRadians(degrees))*ShooterConstants.pitchFeedForward);
 		pitchPID.setReference(
@@ -136,8 +141,8 @@ public double calculateSpeakerAngle() {
 		if(desiredShooterAngle<ShooterConstants.MINIMUM_SHOOTER_ANGLE) {
 			desiredShooterAngle = ShooterConstants.MINIMUM_SHOOTER_ANGLE;
 		}
-		if(desiredShooterAngle>ShooterConstants.MAXIMUM_SHOOTER_ANGLE) {
-			desiredShooterAngle = ShooterConstants.MAXIMUM_SHOOTER_ANGLE;
+		if(desiredShooterAngle>ShooterConstants.PRAC_MAXIMUM_SHOOTER_ANGLE) {
+			desiredShooterAngle = ShooterConstants.PRAC_MAXIMUM_SHOOTER_ANGLE;
 		}
 		SmartDashboard.putNumber("desired shooter angle", desiredShooterAngle);