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Fix Climber Code Logic

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This commit is contained in:
Keenan D. Buckley
2019-02-16 18:01:53 -07:00
parent 1381a6504c
commit d7307d4a95
4 changed files with 15 additions and 20 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java
+2 -2
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@@ -63,8 +63,8 @@ public class OI
JoystickButton climbUp = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.RIGHT_TRIGGER_AXIS); JoystickButton climbUp = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.RIGHT_TRIGGER_AXIS);
double speed = m_driverXbox.getRightTriggerAxis(); double speed = m_driverXbox.getRightTriggerAxis();
//climbUp.whenPressed(new InitiateClimber(true, speed)); climbUp.whenPressed(new InitiateClimber(speed));
//climbUp.whenReleased(new InitiateClimber(false, speed)); climbUp.whenReleased(new InitiateClimber(0));
JoystickButton ratchetFlip = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.Y_BUTTON); JoystickButton ratchetFlip = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.Y_BUTTON);
ratchetFlip.whenPressed(new ratchetFlip(0.5)); ratchetFlip.whenPressed(new ratchetFlip(0.5));
2019robot/src/main/java/org/usfirst/frc4388/robot/commands/InitiateClimber.java
+7 -13
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@@ -7,30 +7,24 @@ import edu.wpi.first.wpilibj.command.Command;
public class InitiateClimber extends Command public class InitiateClimber extends Command
{ {
static boolean CLIMB; static double SPEED;
double speed;
public InitiateClimber(boolean climb, double speed) { public InitiateClimber(double speed) {
requires(Robot.climber); requires(Robot.climber);
this.CLIMB = climb; this.SPEED = speed;
this.speed = speed;
} }
@Override @Override
protected void initialize() { protected void initialize() {
Robot.climber.setClimbSpeed(SPEED);
} }
@Override @Override
protected void execute() { protected void execute() {
if(CLIMB){ //If climb button is pressed
Robot.climber.setClimbSpeed(CLIMB, speed);
}
else{
Robot.climber.setClimbSpeed(false, 0);
}
} }
// Make this return true when this Command no longer needs to run execute()
// Make this return true when this Command no longer needs to run execute()
protected boolean isFinished() { protected boolean isFinished() {
return true; return true;
} }
2019robot/src/main/java/org/usfirst/frc4388/robot/commands/ratchetFlip.java
+3 -1
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@@ -15,7 +15,9 @@ public class ratchetFlip extends Command {
// Called just before this Command runs the first time // Called just before this Command runs the first time
@Override @Override
protected void initialize() { protected void initialize() {
Robot.climber.flipRatchet(speed); if (InitiateClimber.SPEED == 0){
Robot.climber.flipRatchet(speed);
}
} }
// Called repeatedly when this Command is scheduled to run // Called repeatedly when this Command is scheduled to run
2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Climber.java
+3 -4
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@@ -83,11 +83,10 @@ public class Climber extends Subsystem{
@Override @Override
public void periodic() { public void periodic() {
// Put code here to be run every loop // Put code here to be run every loop
} }
public void setClimbSpeed(boolean Climb, double speed) { public void setClimbSpeed(double speed) {
if (Climb && safetySwitch) { if (safetySwitch) {
if(isPressed.isFwdLimitSwitchClosed()){ //If leg at max height if(isPressed.isFwdLimitSwitchClosed()){ //If leg at max height
climberBack.set(0); climberBack.set(0);
climberFront.set(FRONT_FREQ * speed); climberFront.set(FRONT_FREQ * speed);
@@ -97,7 +96,7 @@ public class Climber extends Subsystem{
climberFront.set(FRONT_FREQ * speed); climberFront.set(FRONT_FREQ * speed);
} }
} }
if (!Climb || !safetySwitch) { if (!safetySwitch) {
climberBack.set(0); climberBack.set(0);
climberFront.set(0); climberFront.set(0);
} }