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aarav18
2022-03-18 14:09:25 -06:00
parent 556bbb32b4
commit 1d9940f81b
3 changed files with 114 additions and 107 deletions
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src/main/java/frc4388/robot/subsystems/ClimberRewrite.java
+6 -2
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@@ -128,8 +128,8 @@ public class ClimberRewrite extends SubsystemBase {
}
public void setMotors(double shoulderOutput, double elbowOutput) {
m_shoulder.set(shoulderOutput);
m_elbow.set(elbowOutput);
m_shoulder.set(shoulderOutput * ClimberConstants.INPUT_MULTIPLIER);
m_elbow.set(elbowOutput * ClimberConstants.INPUT_MULTIPLIER);
}
public double[] getJointAngles() {
@@ -282,4 +282,8 @@ public class ClimberRewrite extends SubsystemBase {
public static Point getClimberPosition(double[] jointAngles) {
return getClimberPosition(jointAngles[0], jointAngles[1]);
}
public double getCurrent() {
return (this.m_elbow.getSupplyCurrent() + this.m_shoulder.getSupplyCurrent());
}
}