Team4388/2019-Hit-or-Miss
1
0
Fork 0
mirror of https://github.com/Team4388/2019-Hit-or-Miss.git synced 2026-06-09 00:28:05 -06:00
Code Issues Packages Projects Releases Wiki Activity

Change Climber to be Manual

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
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; package org.usfirst.frc4388.robot.commands;
import org.usfirst.frc4388.robot.Robot; import org.usfirst.frc4388.robot.Robot;
import org.usfirst.frc4388.robot.subsystems.Climber;
import org.usfirst.frc4388.robot.Constants; import org.usfirst.frc4388.robot.Constants;
import edu.wpi.first.wpilibj.command.Command; 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 // Called just before this Command runs the first time
@Override @Override
protected void initialize() { protected void initialize() {
//if (InitiateClimber.SPEED == 0){ if (Climber.SPEED == 0){
Robot.climber.flipRatchet(speed); 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
+12 -7
View File
@@ -57,6 +57,8 @@ public class Climber extends Subsystem{
//Climb Trigger //Climb Trigger
double rightTriggerInput; double rightTriggerInput;
double leftTriggerInput; double leftTriggerInput;
public static double SPEED;
public Climber(){ public Climber(){
@@ -69,6 +71,7 @@ public class Climber extends Subsystem{
climberBack.configForwardLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0); climberBack.configForwardLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
climberBack.configReverseLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0); climberBack.configReverseLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
climberBack.setNeutralMode(NeutralMode.Brake); climberBack.setNeutralMode(NeutralMode.Brake);
climberBack.setInverted(true);
climberFront.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 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(); rightTriggerInput = OI.getInstance().getDriverController().getRightTriggerAxis();
leftTriggerInput = OI.getInstance().getDriverController().getLeftTriggerAxis(); leftTriggerInput = OI.getInstance().getDriverController().getLeftTriggerAxis();
double speed = rightTriggerInput - leftTriggerInput; //SPEED = rightTriggerInput - leftTriggerInput;
// Put code here to be run every loop // Put code here to be run every loop
if (safetySwitch) { 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 else if(isPressed.isFwdLimitSwitchClosed() && speed > 0){ //If leg at max height, and the input would extend the leg
climberBack.set(0); climberBack.set(0);
climberFront.set(FRONT_FREQ * speed); climberFront.set(FRONT_FREQ * speed);
} */ } *//*
if (speed < 0){ if (SPEED < 0){
climberBack.set(-0.3 * speed); climberBack.set(0.3 * SPEED);
} }
else { //If leg not at max height else { //If leg not at max height
climberBack.set(-0.5 * speed); climberBack.set(0.5 * SPEED);
climberFront.set(speed); climberFront.set(SPEED);
} }*/
climberBack.set(rightTriggerInput * 0.1);
climberFront.set(leftTriggerInput);
} }
else { else {
climberBack.set(0); climberBack.set(0);