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elevator FIx

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This commit is contained in:
Keenan D. Buckley
2018-03-09 17:52:50 -07:00
parent 74ed82fc40
commit f77a08b817
1 changed files with 14 additions and 14 deletions
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src/org/usfirst/frc4388/robot/subsystems/Elevator.java
+14 -14
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@@ -26,6 +26,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import com.ctre.phoenix.motorcontrol.FeedbackDevice; import com.ctre.phoenix.motorcontrol.FeedbackDevice;
import com.ctre.phoenix.motorcontrol.LimitSwitchNormal; import com.ctre.phoenix.motorcontrol.LimitSwitchNormal;
import com.ctre.phoenix.motorcontrol.LimitSwitchSource; import com.ctre.phoenix.motorcontrol.LimitSwitchSource;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.SensorCollection; import com.ctre.phoenix.motorcontrol.SensorCollection;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
@@ -99,17 +100,14 @@ public class Elevator extends Subsystem implements ControlLoopable
//Setting left elevator motor as follower //Setting left elevator motor as follower
elevatorLeft.set(ControlMode.Follower, elevatorRight.getDeviceID()); elevatorLeft.set(ControlMode.Follower, elevatorRight.getDeviceID());
elevatorLeft.setInverted(false); elevatorLeft.setInverted(false);
elevatorRight.setSensorPhase(true);
elevatorLeft.setNeutralMode(NeutralMode.Brake);
elevatorRight.setNeutralMode(NeutralMode.Brake);
//Limit Switch Left //Limit Switch Left
elevatorLeft.overrideLimitSwitchesEnable(true); //elevatorLeft.overrideLimitSwitchesEnable(true);
elevatorLeft.configForwardLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0); elevatorLeft.configForwardLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
elevatorLeft.configReverseLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0); elevatorLeft.configReverseLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
//Limit Switch Right
elevatorRight.overrideLimitSwitchesEnable(true);
elevatorRight.configForwardLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
elevatorRight.configReverseLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
} }
catch(Exception e) catch(Exception e)
{ {
@@ -211,6 +209,9 @@ public class Elevator extends Subsystem implements ControlLoopable
} }
else if(elevatorTuningPressed == false) else if(elevatorTuningPressed == false)
{ {
elevatorRight.set(moveElevatorInput);
}
/*
if(elevatorPos <= elevatorSafeZone && elevatorPos >= 0) if(elevatorPos <= elevatorSafeZone && elevatorPos >= 0)
{ {
elevatorRight.set(moveElevatorInput); elevatorRight.set(moveElevatorInput);
@@ -219,7 +220,7 @@ public class Elevator extends Subsystem implements ControlLoopable
{ {
elevatorRight.set(moveElevatorInput * 0.8); elevatorRight.set(moveElevatorInput * 0.8);
/*
if(holdButtonPressed == true) if(holdButtonPressed == true)
{ {
elevatorRight.set(-0.43 * (0.2)); elevatorRight.set(-0.43 * (0.2));
@@ -229,17 +230,16 @@ public class Elevator extends Subsystem implements ControlLoopable
elevatorRight.set(moveElevatorInput * 0.75); elevatorRight.set(moveElevatorInput * 0.75);
} }
*/ */
} //}
/* /*
else if(elevatorPos < 0) else if(elevatorPos < 0)
{ {
elevatorRight.set(moveElevatorInput * 0.75); elevatorRight.set(moveElevatorInput * 0.75);
} }
*/ */
}
}
// System.out.println(elevatorPos); //-6.9 to 1.9 total: 8.8 range // System.out.println(elevatorPos); //-6.9 to 1.9 total: 8.8 range
}
//PID encoder position //PID encoder position
public double getEncoderElevatorPosition() public double getEncoderElevatorPosition()
@@ -295,7 +295,7 @@ public class Elevator extends Subsystem implements ControlLoopable
elevatorRight.set(/*ControlMode.PercentOutput,*/ output); elevatorRight.set(/*ControlMode.PercentOutput,*/ output);
} }
public void holdInPos() /*public void holdInPos()
{ {
elevatorRight.set(-0.43 * 0.2); elevatorRight.set(-0.43 * 0.2);
} }
@@ -326,9 +326,9 @@ public class Elevator extends Subsystem implements ControlLoopable
pressed = false; pressed = false;
} }
} }*/
}
//pressed = (isPressed.isFwdLimitSwitchClosed() == true) ? true : false; //pressed = (isPressed.isFwdLimitSwitchClosed() == true) ? true : false;