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Added Turret subsystem sample code.

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Titan Robotics Club
2025-05-02 17:02:32 -07:00
parent 0a62370ac3
commit 914d0f7b50
4 changed files with 194 additions and 0 deletions
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7
TeamCode/src/main/java/teamcode/Robot.java
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@ -39,6 +39,7 @@ import teamcode.subsystems.RobotBase;
import teamcode.subsystems.RumbleIndicator;
import teamcode.subsystems.ServoWrist;
import teamcode.subsystems.Shooter;
import teamcode.subsystems.Turret;
import teamcode.vision.Vision;
import trclib.dataprocessor.TrcDiscreteValue;
import trclib.motor.TrcMotor;
@ -80,6 +81,7 @@ public class Robot
// Subsystems.
public TrcMotor elevator;
public TrcMotor arm;
public TrcMotor turret;
public TrcShooter shooter;
public TrcDiscreteValue shooterVelocity;
public TrcIntake intake;
@ -144,6 +146,11 @@ public class Robot
arm = new Arm().getMotor();
}
if (RobotParams.Preferences.useTurret)
{
turret = new Turret().getMotor();
}
if (RobotParams.Preferences.useShooter)
{
shooter = new Shooter().getShooter();