Team4388/2019-Hit-or-Miss
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Created start for manual wrist movement

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This is unfinished code
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mayabartels
2019-01-25 16:27:42 -08:00
parent cc4ff1a22b
commit 747e1eee79
1 changed files with 25 additions and 1 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java
+25 -1
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@@ -77,6 +77,30 @@ public class Wrist extends Subsystem
}
}
public void manualWristMove()
{
double wristJoystickInput;
boolean manualOverride;
wristJoystickInput = Robot.oi.getOperatorController().getLeftYAxis();
manualOverride = Robot.oi.getOperatorJoystick().getRawButton(XboxController.A_BUTTON);
if(manualOverride == true)
{
setWristControlMode(wristControlMode.JOYSTICK_MANUAL);
}
else if(manualOverride == false)
{
setWristControlMode(wristControlMode.PID);
}
while(getWristControlMode() == wristControlMode.JOYSTICK_MANUAL)
{
wristRight.set(wristJoystickInput);
}
}
/*
public double armAngle(double encoderValue)
{
@@ -96,7 +120,7 @@ public class Wrist extends Subsystem
private synchronized WristControlMode getWristControlMode()
{
return this.wristControlMode;
}
}
public void setSpeed(double speed)
{