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runClaw fixes

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This commit is contained in:
aarav18
2022-03-05 23:07:12 -07:00
parent 0a0082e823
commit 20353cdbe0
1 changed files with 7 additions and 2 deletions
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src/main/java/frc4388/robot/subsystems/Claws.java
+7 -2
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@@ -56,18 +56,23 @@ public class Claws extends SubsystemBase {
* @param open Whether to open or close the claw.
*/
public void runClaw(ClawType which, boolean open) {
int direction = open ? 1 : -1;
if (which == Claws.ClawType.LEFT) {
// double setPos = open ? ClawsConstants.OPEN_POSITION + m_leftOffset : ClawsConstants.CLOSE_POSITION + m_leftOffset;
// m_leftClaw.getEncoder().setPosition(setPos);
m_leftClaw.set(0.1);
m_leftClaw.set(direction * 0.1);
} else if (which == Claws.ClawType.RIGHT) {
// double setPos = open ? ClawsConstants.OPEN_POSITION + m_rightOffset : ClawsConstants.CLOSE_POSITION + m_rightOffset;
// m_rightClaw.getEncoder().setPosition(setPos);
m_rightClaw.set(0.1);
m_rightClaw.set(direction * 0.1);
}
m_open = open;
}
public void setOpen(boolean open) {