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changed track target reqs + started extender command

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This commit is contained in:
Ryan Manley
2022-03-14 12:16:32 -06:00
parent 4c758f9962
commit 0315104ee8
6 changed files with 71 additions and 18 deletions
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src/main/java/frc4388/robot/subsystems/Extender.java
+7 -1
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@@ -17,6 +17,7 @@ public class Extender extends SubsystemBase {
private SparkMaxLimitSwitch m_outLimit;
public boolean toggle;
public int direction = 1;
/** Creates a new Extender. */
public Extender(CANSparkMax extenderMotor) {
@@ -46,7 +47,12 @@ public class Extender extends SubsystemBase {
public void runExtender(double input) {
// if (!m_serializer.getBeam() && input < 0.) return;
m_extenderMotor.set(input);
if (this.direction > 0) {}
m_extenderMotor.set(this.direction * input);
}
public void switchDirection() {
this.direction = this.direction * -1;
}
public double getCurrent() {