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Change Climber to be Manual

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This commit is contained in:
Keenan D. Buckley
2019-02-17 13:09:41 -07:00
parent 39b0d94b19
commit de0249018b
2 changed files with 15 additions and 9 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/commands/ratchetFlip.java
+3 -2
View File
@@ -1,6 +1,7 @@
package org.usfirst.frc4388.robot.commands;
import org.usfirst.frc4388.robot.Robot;
import org.usfirst.frc4388.robot.subsystems.Climber;
import org.usfirst.frc4388.robot.Constants;
import edu.wpi.first.wpilibj.command.Command;
@@ -15,9 +16,9 @@ public class ratchetFlip extends Command {
// Called just before this Command runs the first time
@Override
protected void initialize() {
//if (InitiateClimber.SPEED == 0){
if (Climber.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
+12 -7
View File
@@ -57,6 +57,8 @@ public class Climber extends Subsystem{
//Climb Trigger
double rightTriggerInput;
double leftTriggerInput;
public static double SPEED;
public Climber(){
@@ -69,6 +71,7 @@ public class Climber extends Subsystem{
climberBack.configForwardLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
climberBack.configReverseLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
climberBack.setNeutralMode(NeutralMode.Brake);
climberBack.setInverted(true);
climberFront.setNeutralMode(NeutralMode.Brake);
FRONT_FREQ = BACK_FREQ * FREQ_RATIO; // Sets the front motor speed to ~1/4 the back motor speed
}
@@ -88,7 +91,7 @@ public class Climber extends Subsystem{
rightTriggerInput = OI.getInstance().getDriverController().getRightTriggerAxis();
leftTriggerInput = OI.getInstance().getDriverController().getLeftTriggerAxis();
double speed = rightTriggerInput - leftTriggerInput;
//SPEED = rightTriggerInput - leftTriggerInput;
// Put code here to be run every loop
if (safetySwitch) {
@@ -100,14 +103,16 @@ 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);
} */
if (speed < 0){
climberBack.set(-0.3 * speed);
} *//*
if (SPEED < 0){
climberBack.set(0.3 * SPEED);
}
else { //If leg not at max height
climberBack.set(-0.5 * speed);
climberFront.set(speed);
}
climberBack.set(0.5 * SPEED);
climberFront.set(SPEED);
}*/
climberBack.set(rightTriggerInput * 0.1);
climberFront.set(leftTriggerInput);
}
else {
climberBack.set(0);