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Scorpions-Robotics · Mar 16, 2024 · c866a31 · c866a31
1 parent af3e623
commit c866a31
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Showing 2 changed files with 6 additions and 3 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -161,10 +161,8 @@ private void configureBindings() {
 //buton 3 Shooter Manuel subbuffer
 new JoystickButton(subJoytick, 3).whileTrue(new VisionShooter(m_shooter, m_network));
 new JoystickButton(subJoytick, 3).whileTrue(new TurnForShooter(m_network, swerveSubsystem));
-
 //new JoystickButton(subJoytick, 3).whileTrue(new InstantCommand(() -> m_joystick.shooterdegistiraktif()));
 //new JoystickButton(subJoytick, 3).whileTrue(new InstantCommand(() -> m_joystick.shooterkayma(m_shooter.getMappedOutput())));
-
 //new JoystickButton(subJoytick, 7).whileTrue(new ShooterSetDegree(m_shooter, () -> m_joystick.returnshooterdegeri()));
 new JoystickButton(subJoytick, 7).whileTrue(new InstantCommand(()-> m_shooter.ShooterThrowMotorOutput(-1)));
 new JoystickButton(subJoytick, 7).whileFalse(new InstantCommand(()-> m_shooter.ShooterThrow1MotorStop()));

diff --git a/src/main/java/frc/robot/subsystems/NetworkSubsystem.java b/src/main/java/frc/robot/subsystems/NetworkSubsystem.java
@@ -14,7 +14,7 @@ public class NetworkSubsystem extends SubsystemBase {
   double apriltag_x_value;
   double apriltag_y_value;
   double apriltag_target_value;
-
+  ShooterSubsystem m_shooter;
 
   public NetworkTableInstance inst = NetworkTableInstance.getDefault();
   //table
@@ -28,6 +28,9 @@ public class NetworkSubsystem extends SubsystemBase {
   public NetworkTableEntry apriltag_y = networkTable.getEntry("apriltag_y");
   public NetworkTableEntry apriltag_target = networkTable.getEntry("apriltag_target");
 
+  public NetworkTableEntry apriltag_reverse = networkTable.getEntry("apriltag_reverse");
+
+
   public NetworkSubsystem() {
    // inst.setServerTeam(7672);
     //inst.startServer("10.76.72.2");
@@ -57,6 +60,8 @@ public void periodic() {
     SmartDashboard.putNumber("apriltag x value", apriltag_x_value);
     SmartDashboard.putNumber("apriltag y value", apriltag_y_value);
     SmartDashboard.putBoolean("connection",inst.isConnected());
+
+    apriltag_reverse.setBoolean(m_shooter.whichSide());
   }