Changes from last day of Granite State District event. Added semi-automatic firing sequence for "close shots," fixed intake constants to be static, tweaks to autonomous programs and other miscellaneous tweaks.

coach-streeter · coach-streeter · commit f2e2406d1f8d · 2020-02-29T22:59:09.000-05:00
diff --git a/src/main/java/org/mayheminc/robot2020/RobotContainer.java b/src/main/java/org/mayheminc/robot2020/RobotContainer.java
@@ -85,20 +85,15 @@ private void configureDefaultCommands() {
         // intake.setDefaultCommand(new IntakeExtenderVBus());
         revolver.setDefaultCommand(new RevolverDefault());
 
-        // TODO: Figure out if the current approach of "AirCompressorDefault()" is the
-        // way to go for compressor control.
         // KBS doesn't think the below is the right way to have the compressor be on "by
-        // default" because
-        // it would require there to always be a command running to keep the compressor
-        // off. However, that
-        // is a good way to ensure it doesn't get left off by accident. Not quite sure
-        // how to handle this;
+        // default" because it would require there to always be a command running to
+        // keep the compressor off.
+        // However, that is a good way to ensure it doesn't get left off by accident.
+        // Not quite sure how to handle this;
         // would really rather that other commands which need the compressor off (such
-        // as a high-power command
-        // which wants all the battery power available) would turn the compressor off
-        // when the command starts
-        // and off when the command ends.) Then again, maybe the "defaultCommand" is a
-        // good way to do this
+        // as a high-power command which wants all the battery power available) would
+        // turn the compressor off when the command starts and off when the command
+        // ends.) Then again, maybe the "defaultCommand" is a good way to do this
         // and I just don't understand the style yet.
         // compressor.setDefaultCommand(new AirCompressorDefault());
     }
@@ -206,7 +201,11 @@ private void configureDriverPadButtons() {
         DRIVER_PAD.DRIVER_PAD_LEFT_UPPER_TRIGGER_BUTTON.whenHeld(new ShooterFiringSequence(60.0));
         DRIVER_PAD.DRIVER_PAD_LEFT_UPPER_TRIGGER_BUTTON.whenReleased(new ShooterCeaseFire());
 
-        DRIVER_PAD.DRIVER_PAD_LEFT_LOWER_TRIGGER_BUTTON.whileHeld(new FeederSet(1.0));
+        DRIVER_PAD.DRIVER_PAD_LEFT_LOWER_TRIGGER_BUTTON.whileHeld(new ShooterCloseFiringSequence(60.0));
+        DRIVER_PAD.DRIVER_PAD_LEFT_LOWER_TRIGGER_BUTTON.whenReleased(new ShooterCeaseFire());
+
+        // DRIVER_PAD.DRIVER_PAD_LEFT_LOWER_TRIGGER_BUTTON.whileHeld(new
+        // FeederSet(1.0));
 
     }
 
@@ -215,9 +214,9 @@ private void configureOperatorStickButtons() {
 
     private void configureOperatorPadButtons() {
         OPERATOR_PAD.OPERATOR_PAD_BUTTON_ONE.whileHeld(new RevolverSetTurntable(0.2));
-        OPERATOR_PAD.OPERATOR_PAD_BUTTON_TWO.whenPressed(new IntakeSetPosition(RobotContainer.intake.PIVOT_DOWN));
+        OPERATOR_PAD.OPERATOR_PAD_BUTTON_TWO.whenPressed(new IntakeSetPosition(Intake.PIVOT_DOWN));
         OPERATOR_PAD.OPERATOR_PAD_BUTTON_THREE.whileHeld(new RevolverSetTurntable(1.0));
-        OPERATOR_PAD.OPERATOR_PAD_BUTTON_FOUR.whenPressed(new IntakeSetPosition(RobotContainer.intake.PIVOT_UP));
+        OPERATOR_PAD.OPERATOR_PAD_BUTTON_FOUR.whenPressed(new IntakeSetPosition(Intake.PIVOT_UP));
 
         // new ShooterSetWheel(1000));
         OPERATOR_PAD.OPERATOR_PAD_BUTTON_FIVE.whileHeld(new ChimneySet(1.0));
diff --git a/src/main/java/org/mayheminc/robot2020/autonomousroutines/StartBWDriveOnlyToRP.java b/src/main/java/org/mayheminc/robot2020/autonomousroutines/StartBWDriveOnlyToRP.java
@@ -8,8 +8,9 @@
 package org.mayheminc.robot2020.autonomousroutines;
 
 import org.mayheminc.robot2020.commands.*;
-import org.mayheminc.robot2020.RobotContainer;
 import org.mayheminc.robot2020.commands.DriveStraightOnHeading.DistanceUnits;
+import org.mayheminc.robot2020.subsystems.Intake;
+
 import edu.wpi.first.wpilibj2.command.*;
 
 public class StartBWDriveOnlyToRP extends SequentialCommandGroup {
@@ -22,7 +23,7 @@ public StartBWDriveOnlyToRP() {
                 addCommands(new DriveZeroGyro(180.0));
 
                 // lower the intake
-                addCommands(new IntakeSetPosition(RobotContainer.intake.PIVOT_DOWN));
+                addCommands(new IntakeSetPosition(Intake.PIVOT_DOWN));
 
                 // then, drive to the rendezvous point
                 addCommands(new DriveStraightOnHeading(0.3, DistanceUnits.INCHES, 12, 180));
diff --git a/src/main/java/org/mayheminc/robot2020/autonomousroutines/StartBWDriveOnlyToWall.java b/src/main/java/org/mayheminc/robot2020/autonomousroutines/StartBWDriveOnlyToWall.java
@@ -8,8 +8,9 @@
 package org.mayheminc.robot2020.autonomousroutines;
 
 import org.mayheminc.robot2020.commands.*;
-import org.mayheminc.robot2020.RobotContainer;
 import org.mayheminc.robot2020.commands.DriveStraightOnHeading.DistanceUnits;
+import org.mayheminc.robot2020.subsystems.Intake;
+
 import edu.wpi.first.wpilibj2.command.*;
 
 public class StartBWDriveOnlyToWall extends SequentialCommandGroup {
@@ -22,7 +23,7 @@ public StartBWDriveOnlyToWall() {
                 addCommands(new DriveZeroGyro(180.0));
 
                 // lower the intake
-                addCommands(new IntakeSetPosition(RobotContainer.intake.PIVOT_DOWN));
+                addCommands(new IntakeSetPosition(Intake.PIVOT_DOWN));
 
                 // then, drive towards the wall
                 addCommands(new DriveStraightOnHeading(-0.3, DistanceUnits.INCHES, 40, 180));
diff --git a/src/main/java/org/mayheminc/robot2020/autonomousroutines/StartBWOppTrench.java b/src/main/java/org/mayheminc/robot2020/autonomousroutines/StartBWOppTrench.java
@@ -7,10 +7,10 @@
 
 package org.mayheminc.robot2020.autonomousroutines;
 
-import org.mayheminc.robot2020.RobotContainer;
 import org.mayheminc.robot2020.commands.*;
 import org.mayheminc.robot2020.commands.DriveStraightOnHeading.DistanceUnits;
 import org.mayheminc.robot2020.subsystems.Hood;
+import org.mayheminc.robot2020.subsystems.Intake;
 import org.mayheminc.robot2020.subsystems.ShooterWheel;
 import org.mayheminc.robot2020.subsystems.Turret;
 
@@ -24,10 +24,11 @@ public StartBWOppTrench() {
 
                 addCommands(new DriveZeroGyro(180.0));
 
-                // lower the intake and turn it on before driving forwards
-                addCommands(new IntakeSetPosition(RobotContainer.intake.PIVOT_DOWN));
-                addCommands(new IntakeSetRollers(-1.0));
+                // lower the intake and wait for it to be on before turning on rollers or
+                // driving forwards
+                addCommands(new IntakeSetPosition(Intake.PIVOT_DOWN));
                 addCommands(new Wait(2.5));
+                addCommands(new IntakeSetRollers(-1.0));
 
                 // make sure the hood is down
                 addCommands(new HoodSetAbsWhileHeld(Hood.TARGET_ZONE_POSITION));
@@ -37,7 +38,7 @@ public StartBWOppTrench() {
 
                 // now driven to get the balls from opposing trench
                 addCommands(new Wait(0.8), // wait for last two balls to get into robot
-                                new IntakeSetRollers(0), // turn off the intake
+                                // new IntakeSetRollers(0), // slow down the intake
                                 new DriveStraightOnHeading(-0.4, DistanceUnits.INCHES, 36, 180)); // start backing up
                                                                                                   // slowly
 
@@ -46,7 +47,7 @@ public StartBWOppTrench() {
 
                 // in shooting position, prepare everything for shooting
                 addCommands(new ParallelCommandGroup( // run the following commands in parallel:
-                                new ShooterWheelSet(ShooterWheel.INITIATION_LINE_SPEED),
+                                new ShooterWheelSet(ShooterWheel.IDLE_SPEED),
                                 new HoodSetAbsWhileHeld(Hood.INITIATION_LINE_POSITION + 3000.0),
                                 new TurretSetAbs((105.0 * Turret.TICKS_PER_DEGREE), Turret.WAIT_FOR_DONE)));
 
@@ -57,13 +58,13 @@ public StartBWOppTrench() {
                 addCommands(new Wait(0.2));
 
                 // use the "one button" firing sequence
-                addCommands(new ShooterFiringSequence(5.0));
+                addCommands(new ShooterFiringSequence(6.0));
 
                 // turn the shooter wheel and intake off now that the shooting is all done
                 addCommands(new ShooterWheelSet(ShooterWheel.IDLE_SPEED));
                 addCommands(new IntakeSetRollers(0.0));
 
                 // turn the wheel off now that the shooting is all done
-                addCommands(new HoodSetAbsWhileHeld(Hood.TARGET_ZONE_POSITION));
+                addCommands(new HoodSetAbsWhileHeld(Hood.STARTING_POSITION));
         }
 }
diff --git a/src/main/java/org/mayheminc/robot2020/autonomousroutines/StartBWShoot3.java b/src/main/java/org/mayheminc/robot2020/autonomousroutines/StartBWShoot3.java
@@ -7,9 +7,9 @@
 
 package org.mayheminc.robot2020.autonomousroutines;
 
-import org.mayheminc.robot2020.RobotContainer;
 import org.mayheminc.robot2020.commands.*;
 import org.mayheminc.robot2020.subsystems.Hood;
+import org.mayheminc.robot2020.subsystems.Intake;
 import org.mayheminc.robot2020.subsystems.ShooterWheel;
 import org.mayheminc.robot2020.subsystems.Turret;
 
@@ -26,8 +26,7 @@ public StartBWShoot3() {
                 // first, lower the intake, start the shooter wheel, and wait until the turret
                 // is turned towards the target
                 addCommands(new ParallelCommandGroup( // run the following commands in parallel:
-                                new IntakeSetPosition(RobotContainer.intake.PIVOT_DOWN),
-                                new ShooterWheelSet(ShooterWheel.IDLE_SPEED),
+                                new IntakeSetPosition(Intake.PIVOT_DOWN), new ShooterWheelSet(ShooterWheel.IDLE_SPEED),
                                 new HoodSetAbsWhileHeld(Hood.INITIATION_LINE_POSITION),
                                 new TurretSetAbs((180.0 * Turret.TICKS_PER_DEGREE), Turret.WAIT_FOR_DONE)));
 
diff --git a/src/main/java/org/mayheminc/robot2020/autonomousroutines/StartBWTrench.java b/src/main/java/org/mayheminc/robot2020/autonomousroutines/StartBWTrench.java
@@ -39,13 +39,13 @@ public StartBWTrench(double extraDistance) {
 
                 // now driven to the balls at far end of trench
                 addCommands(new Wait(0.8), // wait for last two balls to get into robot
-                                new IntakeSetRollers(0), // turn off the intake
                                 new DriveStraightOnHeading(-0.5, DistanceUnits.INCHES, 12, 180)); // start backing up
                                                                                                   // slowly
 
                 // after getting all three balls, go back to shooting position
                 // first, make sure we drive straight out from under the control panel
                 addCommands(new DriveStraightOnHeading(-0.6, DistanceUnits.INCHES, 8 + extraDistance, 180));
+                addCommands(new IntakeSetRollers(0.0)); // turn off the intake in case it has been stalled for a while
 
                 // drive diagonally over towards the shooting position, while turning on shooter
                 // wheels, raising the hood, and re-aiming the turret
@@ -67,7 +67,7 @@ public StartBWTrench(double extraDistance) {
                 addCommands(new ShooterWheelSet(ShooterWheel.IDLE_SPEED));
                 addCommands(new IntakeSetRollers(0.0));
 
-                // turn the wheel off now that the shooting is all done
-                addCommands(new HoodSetAbsWhileHeld(Hood.TARGET_ZONE_POSITION));
+                // put the hood down now that the shooting is all done
+                addCommands(new HoodSetAbsWhileHeld(Hood.STARTING_POSITION));
         }
 }
diff --git a/src/main/java/org/mayheminc/robot2020/autonomousroutines/StartFWDriveOnlyToRP.java b/src/main/java/org/mayheminc/robot2020/autonomousroutines/StartFWDriveOnlyToRP.java
@@ -8,8 +8,9 @@
 package org.mayheminc.robot2020.autonomousroutines;
 
 import org.mayheminc.robot2020.commands.*;
-import org.mayheminc.robot2020.RobotContainer;
 import org.mayheminc.robot2020.commands.DriveStraightOnHeading.DistanceUnits;
+import org.mayheminc.robot2020.subsystems.Intake;
+
 import edu.wpi.first.wpilibj2.command.*;
 
 public class StartFWDriveOnlyToRP extends SequentialCommandGroup {
@@ -22,7 +23,7 @@ public StartFWDriveOnlyToRP() {
                 addCommands(new DriveZeroGyro(0.0));
 
                 // lower the intake
-                addCommands(new IntakeSetPosition(RobotContainer.intake.PIVOT_DOWN));
+                addCommands(new IntakeSetPosition(Intake.PIVOT_DOWN));
 
                 // then, drive to the RP
                 addCommands(new DriveStraightOnHeading(-0.3, DistanceUnits.INCHES, 12, 0));
diff --git a/src/main/java/org/mayheminc/robot2020/autonomousroutines/StartFWDriveOnlyToWall.java b/src/main/java/org/mayheminc/robot2020/autonomousroutines/StartFWDriveOnlyToWall.java
@@ -8,8 +8,9 @@
 package org.mayheminc.robot2020.autonomousroutines;
 
 import org.mayheminc.robot2020.commands.*;
-import org.mayheminc.robot2020.RobotContainer;
 import org.mayheminc.robot2020.commands.DriveStraightOnHeading.DistanceUnits;
+import org.mayheminc.robot2020.subsystems.Intake;
+
 import edu.wpi.first.wpilibj2.command.*;
 
 public class StartFWDriveOnlyToWall extends SequentialCommandGroup {
@@ -22,7 +23,7 @@ public StartFWDriveOnlyToWall() {
                 addCommands(new DriveZeroGyro(0.0));
 
                 // lower the intake
-                addCommands(new IntakeSetPosition(RobotContainer.intake.PIVOT_DOWN));
+                addCommands(new IntakeSetPosition(Intake.PIVOT_DOWN));
 
                 // then, drive to the RP
                 addCommands(new DriveStraightOnHeading(0.3, DistanceUnits.INCHES, 40, 0));
diff --git a/src/main/java/org/mayheminc/robot2020/autonomousroutines/StartFWRendezvous.java b/src/main/java/org/mayheminc/robot2020/autonomousroutines/StartFWRendezvous.java
@@ -7,10 +7,10 @@
 
 package org.mayheminc.robot2020.autonomousroutines;
 
-import org.mayheminc.robot2020.RobotContainer;
 import org.mayheminc.robot2020.commands.*;
 import org.mayheminc.robot2020.commands.DriveStraightOnHeading.DistanceUnits;
 import org.mayheminc.robot2020.subsystems.Hood;
+import org.mayheminc.robot2020.subsystems.Intake;
 import org.mayheminc.robot2020.subsystems.ShooterWheel;
 import org.mayheminc.robot2020.subsystems.Turret;
 
@@ -25,14 +25,13 @@ public StartFWRendezvous() {
                 // start out facing in the normal direction
                 addCommands(new DriveZeroGyro(0.0));
 
-                addCommands(new IntakeSetPosition(RobotContainer.intake.PIVOT_DOWN));
+                addCommands(new IntakeSetPosition(Intake.PIVOT_DOWN));
 
                 // shoot the 3 balls we started with
                 // first, lower the intake, start the shooter wheel, and wait until the turret
                 // is turned towards the target
                 addCommands(new ParallelCommandGroup( // run the following commands in parallel:
-                                new IntakeSetPosition(RobotContainer.intake.PIVOT_DOWN),
-                                new ShooterWheelSet(ShooterWheel.IDLE_SPEED),
+                                new IntakeSetPosition(Intake.PIVOT_DOWN), new ShooterWheelSet(ShooterWheel.IDLE_SPEED),
                                 new HoodSetAbs(Hood.INITIATION_LINE_POSITION),
                                 new TurretSetAbs((10.0 * Turret.TICKS_PER_DEGREE), Turret.WAIT_FOR_DONE)));
 
@@ -43,7 +42,7 @@ public StartFWRendezvous() {
 
                 // now that we are clear of other robots, lower the intake while backing up
                 // further
-                addCommands(new IntakeSetPosition(RobotContainer.intake.PIVOT_DOWN));
+                addCommands(new IntakeSetPosition(Intake.PIVOT_DOWN));
 
                 // raise the hood a little to shoot from this increased distance
                 addCommands(new HoodSetAbsWhileHeld((Hood.INITIATION_LINE_POSITION + Hood.TRENCH_MID_POSITION) / 2.0));
diff --git a/src/main/java/org/mayheminc/robot2020/autonomousroutines/StartFWShoot3.java b/src/main/java/org/mayheminc/robot2020/autonomousroutines/StartFWShoot3.java
@@ -7,9 +7,9 @@
 
 package org.mayheminc.robot2020.autonomousroutines;
 
-import org.mayheminc.robot2020.RobotContainer;
 import org.mayheminc.robot2020.commands.*;
 import org.mayheminc.robot2020.subsystems.Hood;
+import org.mayheminc.robot2020.subsystems.Intake;
 import org.mayheminc.robot2020.subsystems.ShooterWheel;
 import org.mayheminc.robot2020.subsystems.Turret;
 
@@ -26,7 +26,7 @@ public StartFWShoot3() {
                 // first, lower the intake, start the shooter wheel, and wait until the turret
                 // is turned towards the target
                 addCommands(new ParallelCommandGroup( // run the following commands in parallel:
-                                new IntakeSetPosition(RobotContainer.intake.PIVOT_DOWN),
+                                new IntakeSetPosition(Intake.PIVOT_DOWN),
                                 new ShooterWheelSet(ShooterWheel.INITIATION_LINE_SPEED),
                                 new HoodSetAbsWhileHeld(Hood.INITIATION_LINE_POSITION),
                                 new TurretSetAbs((0.0 * Turret.TICKS_PER_DEGREE), Turret.WAIT_FOR_DONE)));
diff --git a/src/main/java/org/mayheminc/robot2020/commands/ShooterCeaseFire.java b/src/main/java/org/mayheminc/robot2020/commands/ShooterCeaseFire.java
@@ -8,6 +8,7 @@
 package org.mayheminc.robot2020.commands;
 
 import org.mayheminc.robot2020.subsystems.Hood;
+import org.mayheminc.robot2020.subsystems.Intake;
 import org.mayheminc.robot2020.subsystems.ShooterWheel;
 
 import edu.wpi.first.wpilibj2.command.ParallelRaceGroup;
@@ -31,7 +32,9 @@ public ShooterCeaseFire() {
     addCommands(new ParallelRaceGroup(new FeederSet(0.0), new ChimneySet(0.0), new RevolverSetTurntable(0.0),
         new ShooterWheelSet(ShooterWheel.IDLE_SPEED), new Wait(0.1)));
 
-    // Lower the hood now that we're done shooting
+    // Lower the hood and intake now that we're done shooting
     addCommands(new HoodSetAbsWhileHeld(Hood.STARTING_POSITION));
+    addCommands(new IntakeSetPosition(Intake.PIVOT_DOWN)); // ensure intake is lowered,);
+    addCommands(new IntakeSetRollers(0.0));
   }
 }
diff --git a/src/main/java/org/mayheminc/robot2020/commands/ShooterCloseFiringSequence.java b/src/main/java/org/mayheminc/robot2020/commands/ShooterCloseFiringSequence.java
@@ -0,0 +1,51 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package org.mayheminc.robot2020.commands;
+
+import org.mayheminc.robot2020.subsystems.Hood;
+import org.mayheminc.robot2020.subsystems.Intake;
+import org.mayheminc.robot2020.subsystems.ShooterWheel;
+
+import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
+import edu.wpi.first.wpilibj2.command.ParallelRaceGroup;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+
+// NOTE:  Consider using this command inline, rather than writing a subclass.  For more
+// information, see:
+// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
+public class ShooterCloseFiringSequence extends SequentialCommandGroup {
+  /**
+   * Creates a new ShooterReadyAimFire.
+   */
+  public ShooterCloseFiringSequence(double waitDuration) {
+    // Add your commands in the super() call, e.g.
+    // super(new FooCommand(), new BarCommand());
+    super();
+
+    // Prepare for shooting.
+    addCommands(new IntakeSetPosition(Intake.PIVOT_SHOOTING)); // move intake to "shooting position"
+    addCommands(new ParallelCommandGroup( // prepare for shooting,
+        new AirCompressorPause() // turn off compressor while actively shooting,
+    // , new ShooterAimToTarget() // and aim at the target (azimuth and elevation).
+    ));
+
+    // no aiming when up close; just turn on the shooter wheels and raise the hood
+    addCommands(new ShooterWheelSet(ShooterWheel.CLOSE_SHOOTING_SPEED), // shooter wheel manual speed
+        new HoodSetAbs(Hood.CLOSE_SHOOTING_POSITION));
+
+    // turn on the feeder, wait 0.1, turn on the Chimney, wait 0.1, turn on the
+    // revolver turntable, shoot for specified duration.
+    // TODO: should really shoot until no balls detected any more
+    addCommands(new ParallelRaceGroup( //
+        new FeederSet(1.0), new SequentialCommandGroup(new Wait(0.1), new ChimneySet(1.0)),
+        new SequentialCommandGroup(new Wait(0.2), new RevolverSetTurntable(1.0)), new Wait(waitDuration)));
+
+    // turn off the feeder, chimney, and revolver, ending after 0.1 seconds
+    addCommands(new ShooterCeaseFire());
+  }
+}
diff --git a/src/main/java/org/mayheminc/robot2020/commands/ShooterFiringSequence.java b/src/main/java/org/mayheminc/robot2020/commands/ShooterFiringSequence.java
@@ -7,7 +7,7 @@
 
 package org.mayheminc.robot2020.commands;
 
-import org.mayheminc.robot2020.RobotContainer;
+import org.mayheminc.robot2020.subsystems.Intake;
 
 import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
 import edu.wpi.first.wpilibj2.command.ParallelRaceGroup;
@@ -26,9 +26,9 @@ public ShooterFiringSequence(double waitDuration) {
     super();
 
     // Prepare for shooting.
+    addCommands(new IntakeSetPosition(Intake.PIVOT_SHOOTING)); // move intake to "shooting position"
     addCommands(new ParallelCommandGroup( // prepare for shooting,
         new AirCompressorPause(), // turn off compressor while actively shooting,
-        new IntakeSetPosition(RobotContainer.intake.PIVOT_DOWN), // ensure intake is lowered,
         new ShooterAimToTarget())); // and aim at the target (azimuth and elevation).
 
     // prior command established aim; turn on the shooter wheels and maintain turret
diff --git a/src/main/java/org/mayheminc/robot2020/subsystems/Hood.java b/src/main/java/org/mayheminc/robot2020/subsystems/Hood.java
diff --git a/src/main/java/org/mayheminc/robot2020/subsystems/Intake.java b/src/main/java/org/mayheminc/robot2020/subsystems/Intake.java
diff --git a/src/main/java/org/mayheminc/robot2020/subsystems/ShooterWheel.java b/src/main/java/org/mayheminc/robot2020/subsystems/ShooterWheel.java
diff --git a/src/main/java/org/mayheminc/robot2020/subsystems/Targeting.java b/src/main/java/org/mayheminc/robot2020/subsystems/Targeting.java
