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Team766 · Dec 14, 2023 · 052dd5c · 052dd5c
1 parent 7ffa69e
commit 052dd5c
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Showing 3 changed files with 11 additions and 7 deletions.
diff --git a/src/main/java/com/team766/robot/OI.java b/src/main/java/com/team766/robot/OI.java
@@ -114,7 +114,7 @@ public void run(final Context context) {
 				isCross = !isCross;
 			}
 
-
+		// Test shooting using 	
 		if(joystick2.getButton(1)){
 			//Robot.shooter.shoot(1, 1);
 			try {
@@ -127,6 +127,7 @@ public void run(final Context context) {
 			//Robot.shooter.shoot(0,0);
 		}
 
+		//Button to press if you want to start a calibration session (so like a new distance)
 		if(joystick2.getButtonPressed(2)){
 			try {
 				Robot.shooter.startNewCalibrationDistanceSession(context);
@@ -135,7 +136,7 @@ public void run(final Context context) {
 				e.printStackTrace();
 			}
 		}
-
+		// Button to press if the ball went long
 		if(joystick2.getButtonPressed(3)){
 			try {
 				Robot.shooter.inputDataFromShot(false, true, context);
@@ -144,7 +145,7 @@ public void run(final Context context) {
 				e.printStackTrace();
 			}
 		}
-
+		// Button to press if the ball went short
 		if(joystick2.getButtonPressed(4)){
 			try {
 				Robot.shooter.inputDataFromShot(false, false, context);
@@ -153,7 +154,7 @@ public void run(final Context context) {
 				e.printStackTrace();
 			}
 		}
-
+		// Button to press if the ball went in
 		if(joystick2.getButtonPressed(5)){
 			try {
 				Robot.shooter.inputDataFromShot(true, false, context);
@@ -162,7 +163,7 @@ public void run(final Context context) {
 				e.printStackTrace();
 			}
 		}
-
+		//Send data to file
 		if(joystick2.getButtonPressed(6)){
 			Robot.shooter.resetCalibrationAndStoreDataInFine();
 		}

diff --git a/src/main/java/com/team766/robot/mechanisms/Shooter.java b/src/main/java/com/team766/robot/mechanisms/Shooter.java
@@ -18,8 +18,8 @@ public class Shooter extends Mechanism {
 
 
 
-
-	static AutomaticShooterPowerCalibration calibration;
+	// create calibration object, this is static so it can be used all over? I dont know why I put it this but it gets really unhappy when I make it unstatic so imma just leave it.
+	static AutomaticShooterPowerCalibration calibration; 
 
 	private double lastSpeed = 0;
 	public Shooter(){

diff --git a/src/main/java/com/team766/robot/procedures/ShootPower.java b/src/main/java/com/team766/robot/procedures/ShootPower.java
@@ -5,9 +5,12 @@
 import com.team766.robot.Robot;
 
 public class ShootPower extends Procedure {
+	// private variable power to store amount of power that should be shot. This is set in the constructor.
 	private double power;
 	public ShootPower(double power){
 		this.power = power;
+		this.power = Math.min(this.power, 1);
+		this.power = Math.max(this.power, -1);
 	}
 	public void run(Context context){
 		context.takeOwnership(Robot.shooter);