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This commit is contained in:
Ryan Manley
2022-03-24 19:12:44 -06:00
parent fcf46c9cd7
commit 61011cf092
2 changed files with 3 additions and 3 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+1 -1
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@@ -225,7 +225,7 @@ public class RobotContainer {
0,
0,
0,
true);
false);
}}
, m_robotSwerveDrive).withName("Swerve driveWithInput defaultCommand"));
src/main/java/frc4388/robot/subsystems/Climber.java
+2 -2
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@@ -18,7 +18,7 @@ public class Climber extends SubsystemBase {
/** Creates a new Climber */
public Climber(WPI_TalonFX elbow) {
this.elbow = elbow;
elbow.configReverseLimitSwitchSource(LimitSwitchSource.FeedbackConnector, LimitSwitchNormal.NormallyOpen);
elbow.configForwardLimitSwitchSource(LimitSwitchSource.FeedbackConnector, LimitSwitchNormal.NormallyOpen);
elbow.overrideLimitSwitchesEnable(true); //Check
elbow.configReverseSoftLimitThreshold(ClimberConstants.ELBOW_FORWARD_SOFT_LIMIT); // Tune
@@ -40,6 +40,6 @@ public class Climber extends SubsystemBase {
@Override
public void periodic() {
SmartDashboard.putNumber("Elbow Angle", elbow.getSelectedSensorPosition());
SmartDashboard.putBoolean("Climber Folded", (elbow.isRevLimitSwitchClosed() == 1));
SmartDashboard.putBoolean("Climber Folded", (elbow.isFwdLimitSwitchClosed() == 1));
}
}