Team4388/2019-Hit-or-Miss
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Add a climber retract to mapped to the left driver trigger

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This commit is contained in:
Keenan D. Buckley
2019-02-16 18:25:50 -07:00
parent d7307d4a95
commit eddd8468c3
2 changed files with 11 additions and 5 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java
+5 -3
View File
@@ -62,9 +62,11 @@ public class OI
JoystickButton climbUp = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.RIGHT_TRIGGER_AXIS);
double speed = m_driverXbox.getRightTriggerAxis();
climbUp.whenPressed(new InitiateClimber(speed));
climbUp.whenReleased(new InitiateClimber(0));
JoystickButton climbDown = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.LEFT_TRIGGER_AXIS);
double speed = m_driverXbox.getRightTriggerAxis() - m_driverXbox.getLeftTriggerAxis();
climbUp.whileActive(new InitiateClimber(speed));
climbDown.whileActive(new InitiateClimber(speed));
JoystickButton ratchetFlip = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.Y_BUTTON);
ratchetFlip.whenPressed(new ratchetFlip(0.5));
2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Climber.java
+6 -2
View File
@@ -87,11 +87,15 @@ public class Climber extends Subsystem{
public void setClimbSpeed(double speed) {
if (safetySwitch) {
if(isPressed.isFwdLimitSwitchClosed()){ //If leg at max height
if (isPressed.isRevLimitSwitchClosed() && speed < 0){ //If leg at min height, and the input would retract the leg
climberBack.set(0);
climberFront.set(0);
}
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 (!isPressed.isFwdLimitSwitchClosed()){ //If leg not at max height
else { //If leg not at max height
climberBack.set(BACK_FREQ * speed);
climberFront.set(FRONT_FREQ * speed);
}