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Added printlines

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66945
2022-01-22 14:17:15 -07:00
parent 20f4bdf5ba
commit 6a44632d2a
1 changed files with 15 additions and 2 deletions
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src/main/java/frc4388/robot/subsystems/Climber.java
+15 -2
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@@ -167,9 +167,22 @@ public class Climber extends SubsystemBase {
double tiltAngle = m_groundRelative ? getRobotTilt() : 0.d;
System.out.println(getJointAngles(0, 0, 0));
double[] testAngles = getJointAngles(0, 0, 0);
System.out.println("origin: " + testAngles[0] + ", " + testAngles[1]);
double[] testAngles2 = getJointAngles(5000, 5000, 0);
System.out.println("extended: " + testAngles2[0] + ", " + testAngles2[1]);
double[] testAngles3 = getJointAngles(0, 75, 0);
System.out.println("just y: " + testAngles3[0] + ", " + testAngles3[1]);
double[] testAngles4 = getJointAngles(75, 0, 0);
System.out.println("just x: " + testAngles4[0] + ", " + testAngles4[1]);
double[] testAngles5 = getJointAngles(-75, 0, 0);
System.out.println("just x: " + testAngles5[0] + ", " + testAngles5[1]);
double[] jointAngles = getJointAngles(m_position[0], m_position[1], tiltAngle);
setJointAngles(jointAngles);
//setJointAngles(jointAngles);
}
}