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Added more limits

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66945
2022-01-24 19:20:07 -07:00
parent 38387e3173
commit 2502f71ecd
1 changed files with 3 additions and 0 deletions
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src/main/java/frc4388/robot/subsystems/Climber.java
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@@ -165,6 +165,9 @@ public class Climber extends SubsystemBase {
} }
public void setJointAngles(double shoulderAngle, double elbowAngle) { public void setJointAngles(double shoulderAngle, double elbowAngle) {
shoulderAngle = shoulderAngle < ClimberConstants.SHOULDER_RESTING_ANGLE ? ClimberConstants.SHOULDER_RESTING_ANGLE : shoulderAngle;
elbowAngle = elbowAngle < ClimberConstants.ELBOW_RESTING_ANGLE ? ClimberConstants.ELBOW_RESTING_ANGLE : elbowAngle;
shoulderAngle = shoulderAngle > ClimberConstants.SHOULDER_MAX_ANGLE ? ClimberConstants.SHOULDER_MAX_ANGLE : shoulderAngle; shoulderAngle = shoulderAngle > ClimberConstants.SHOULDER_MAX_ANGLE ? ClimberConstants.SHOULDER_MAX_ANGLE : shoulderAngle;
elbowAngle = elbowAngle > ClimberConstants.ELBOW_MAX_ANGLE ? ClimberConstants.ELBOW_MAX_ANGLE : elbowAngle; elbowAngle = elbowAngle > ClimberConstants.ELBOW_MAX_ANGLE ? ClimberConstants.ELBOW_MAX_ANGLE : elbowAngle;