Temp lime

src/main/java/frc/robot/Constants.java

@@ -35,8 +35,8 @@ public final class CONSTANTS {
      */
     public static final double NEUTRAL_DEADBAND = 0.05;
     public static final int UNITS_PER_REVOLUTION = 2048; /* this is constant for Talon FX */
-
-    // Gains
+    public static final double GEAR_RATIO = 0.5;
+
     public static final int TALON_PRIMARY_CLOSED_LOOP = 0;
 
     // Turret Constants

src/main/java/frc/robot/RobotContainer.java

@@ -7,13 +7,15 @@
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
 import frc.robot.commands.ArcadeDrive;
+import frc.robot.commands.AutoAim;
 import frc.robot.subsystems.DriveTrain;
 import frc.robot.commands.ExampleCommand;
 import frc.robot.subsystems.ExampleSubsystem;
 import frc.robot.subsystems.Limelight;
 import frc.robot.subsystems.Shooter;
 import frc.robot.subsystems.Turret;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.ScheduleCommand;
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import frc.robot.CONSTANTS.*;
@@ -41,16 +43,18 @@ public class RobotContainer {
   private final ArcadeDrive arcadeDrive = new ArcadeDrive(driveTrain, () -> movementJoystick.getY(),
       () -> movementJoystick.getX(), () -> movementJoystick.getRawButtonPressed(CONTROLS.JOYSTICK.TRIGGER),
       () -> movementJoystick.getRawButtonReleased(CONTROLS.JOYSTICK.TRIGGER));
-
+  private final AutoAim autoAim = new AutoAim(turret, limelight);
   /**
    * The container for the robot. Contains subsystems, OI devices, and commands.
    */
   public RobotContainer() {
     // Configure the button bindings
-
+    final JoystickButton autoAimButton = new JoystickButton(movementJoystick, CONSTANTS.CONTROLS.JOYSTICK.TRIGGER);
     driveTrain.setDefaultCommand(arcadeDrive);
 
+    autoAimButton.whenHeld(autoAim);
     configureButtonBindings();
+
   }
 
   /**

src/main/java/frc/robot/commands/AutoAim.java

@@ -0,0 +1,30 @@
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+
+import frc.robot.CONSTANTS;
+import frc.robot.subsystems.*;
+
+public class AutoAim extends CommandBase {
+
+    Turret m_turret;
+    Limelight m_limelight;
+
+    public AutoAim(Turret turret, Limelight limelight){
+        m_turret = turret;
+        m_limelight = limelight;
+        addRequirements(turret);
+        addRequirements(limelight);
+    }
+
+    @Override
+    public void execute(){
+
+        if(m_limelight.canSeeTarget()){
+           m_turret.getVel(); 
+        }
+        else if(m_limelight.onTarget()){
+            m_turret.stop();
+        }
+    }
+}

src/main/java/frc/robot/subsystems/Turret.java

@@ -12,6 +12,7 @@ public class Turret extends SubsystemBase {
 
     private WPI_TalonSRX turret = new WPI_TalonSRX(2); // config id later
 
+
     public Turret() {
 
         turret.configFactoryDefault();
@@ -42,6 +43,7 @@ public double getVel() {
 
     public void stop() {
         turret.stopMotor();
+
     }
 
     @Override