@Override
public void execute() {
- // If we ever need to lose a match use this code below
- // SmartDashboard.putData("Hood: Shoot Higher", new InstantCommand(() -> bumpUpHoodOffset()));
- // SmartDashboard.putData("Hood: Shoot Lower", new InstantCommand(() -> bumpDownHoodOffset()));
- // SmartDashboard.putData("Turret: Aim Left", new InstantCommand(() -> bumpUpTurretOffset()));
- // SmartDashboard.putData("Turret: Aim Right", new InstantCommand(() -> bumpDownTurretOffset()));
- if (!Constants.DISABLE_SMART_DASHBOARD) {
- TOFAdjustment = SmartDashboard.getNumber("OPERATOR: TOF Adjustment", TOFAdjustment);
- SmartDashboard.putNumber("OPERATOR: TOF Adjustment", TOFAdjustment);
- hoodOffset = SmartDashboard.getNumber("OPERATOR: Hood Offset", hoodOffset);
- SmartDashboard.putNumber("OPERATOR: Hood Offset", hoodOffset);
- }
-
- turretOffset = SmartDashboard.getNumber("OPERATOR: Turret Offset", turretOffset);
- SmartDashboard.putNumber("OPERATOR: Turret Offset", turretOffset);
--
// Phase manager stuff
phaseManager.update(drivepose, shooter, turret);
target = phaseManager.getTarget(drivepose);