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Delete Initiate Climber

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This commit is contained in:
Keenan D. Buckley
2019-02-17 12:39:52 -07:00
parent b32a060093
commit 39b0d94b19
4 changed files with 2 additions and 63 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java
-4
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@@ -64,10 +64,6 @@ public class OI
JoystickButton climbUp = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.RIGHT_TRIGGER_AXIS);
JoystickButton climbDown = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.LEFT_TRIGGER_AXIS);
//double speed = m_driverXbox.getRightTriggerAxis() - m_driverXbox.getLeftTriggerAxis();
//climbUp.whenActive(new InitiateClimber(m_driverXbox.getRightTriggerAxis()));
//climbDown.whenActive(new InitiateClimber(-m_driverXbox.getLeftTriggerAxis()));
JoystickButton ratchetFlip = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.Y_BUTTON);
ratchetFlip.whenPressed(new ratchetFlip(0.5));
ratchetFlip.whenReleased(new ratchetFlip(0));
2019robot/src/main/java/org/usfirst/frc4388/robot/commands/InitiateClimber.java
-39
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@@ -1,39 +0,0 @@
package org.usfirst.frc4388.robot.commands;
import org.usfirst.frc4388.robot.Robot;
import org.usfirst.frc4388.robot.Constants;
import edu.wpi.first.wpilibj.command.Command;
public class InitiateClimber extends Command
{
static double SPEED;
public InitiateClimber(double speed) {
requires(Robot.climber);
this.SPEED = speed;
}
@Override
protected void initialize() {
Robot.climber.setClimbSpeed(SPEED);
}
@Override
protected void execute() {
}
// Make this return true when this Command no longer needs to run execute()
protected boolean isFinished() {
return true;
}
// Called once after isFinished returns true
protected void end() {
}
@Override
protected void interrupted() {
}
}
2019robot/src/main/java/org/usfirst/frc4388/robot/commands/ratchetFlip.java
+2 -2
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@@ -15,9 +15,9 @@ public class ratchetFlip extends Command {
// Called just before this Command runs the first time
@Override
protected void initialize() {
if (InitiateClimber.SPEED == 0){
//if (InitiateClimber.SPEED == 0){
Robot.climber.flipRatchet(speed);
}
//}
}
// Called repeatedly when this Command is scheduled to run
2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Climber.java
-18
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@@ -113,24 +113,6 @@ public class Climber extends Subsystem{
climberBack.set(0);
}
}
///DEPRICATED
public void setClimbSpeed(double speed) {
if (safetySwitch) {
if (isPressed.isRevLimitSwitchClosed() && speed < 0){ //If leg at min height, and the input would retract the leg
climberBack.set(0);
climberFront.set(0);
}
else if(isPressed.isFwdLimitSwitchClosed() && speed > 0){ //If leg at max height, and the input would extend the leg
climberBack.set(0);
climberFront.set(FRONT_FREQ * speed);
}
else { //If leg not at max height */
climberBack.set(BACK_FREQ * speed);
climberFront.set(FRONT_FREQ * speed);
}
}
}
public void safetySwitch(boolean safetySwitch){
this.safetySwitch = safetySwitch;