Team4388/2019-Hit-or-Miss
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Climber Adjustments

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This commit is contained in:
Keenan D. Buckley
2019-02-17 12:35:09 -07:00
parent 89c3489f79
commit b32a060093
1 changed files with 11 additions and 9 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Climber.java
+11 -9
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@@ -46,7 +46,7 @@ public class Climber extends Subsystem{
//Frequency Control
static float BACK_FREQ = 1;
static float FRONT_FREQ;
static float FRONT_FREQ = 1;
static float FREQ_RATIO = 0.2443744576F;
//Limit and Saftey vars
@@ -69,6 +69,7 @@ public class Climber extends Subsystem{
climberBack.configForwardLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
climberBack.configReverseLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
climberBack.setNeutralMode(NeutralMode.Brake);
climberFront.setNeutralMode(NeutralMode.Brake);
FRONT_FREQ = BACK_FREQ * FREQ_RATIO; // Sets the front motor speed to ~1/4 the back motor speed
}
catch (Exception e) {
@@ -99,22 +100,23 @@ public class Climber extends Subsystem{
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);
//}
} */
if (speed < 0){
climberBack.set(-0.3 * speed);
}
else { //If leg not at max height
climberBack.set(-0.5 * speed);
climberFront.set(speed);
}
}
else {
climberBack.set(0);
climberFront.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);
@@ -126,7 +128,7 @@ public class Climber extends Subsystem{
else { //If leg not at max height */
climberBack.set(BACK_FREQ * speed);
climberFront.set(FRONT_FREQ * speed);
//}
}
}
}