From 71c9cd2e40d523699c397ab3c66f1318f8dea605 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Fri, 18 Mar 2022 10:45:08 -0600 Subject: [PATCH] claws working --- src/main/java/frc4388/robot/subsystems/Claws.java | 14 ++++++++------ 1 file changed, 8 insertions(+), 6 deletions(-) diff --git a/src/main/java/frc4388/robot/subsystems/Claws.java b/src/main/java/frc4388/robot/subsystems/Claws.java index 300fb34..2d8f726 100644 --- a/src/main/java/frc4388/robot/subsystems/Claws.java +++ b/src/main/java/frc4388/robot/subsystems/Claws.java @@ -106,15 +106,15 @@ public class Claws extends SubsystemBase { // m_rightClaw.getEncoder().setPosition(ClawsConstants.OPEN_POSITION + m_rightOffset); // m_leftClaw.setPosition(.7); // m_rightClaw.setPosition(.7); - m_leftClaw.setRaw(ClawConstants.BOTTOM_LIMIT);//ClawConstants.OPEN_POSITION); - m_rightClaw.setRaw(ClawConstants.TOP_LIMIT);//ClawConstants.OPEN_POSITION); + m_leftClaw.setRaw(ClawConstants.BOTTOM_LIMIT - 900);//ClawConstants.OPEN_POSITION); + m_rightClaw.setRaw(ClawConstants.TOP_LIMIT + 100);//ClawConstants.OPEN_POSITION); } else { // m_leftClaw.getEncoder().setPosition(ClawsConstants.CLOSE_POSITION + m_leftOffset); // m_rightClaw.getEncoder().setPosition(ClawsConstants.CLOSE_POSITION + m_rightOffset); // m_leftClaw.setPosition(.3); // m_rightClaw.setPosition(.3); - m_leftClaw.setRaw(ClawConstants.TOP_LIMIT); - m_rightClaw.setRaw(ClawConstants.BOTTOM_LIMIT); + m_leftClaw.setRaw(ClawConstants.TOP_LIMIT - 100); + m_rightClaw.setRaw(ClawConstants.BOTTOM_LIMIT - 700); } } @@ -152,7 +152,9 @@ public class Claws extends SubsystemBase { // } // @Override - // public void periodic() { + public void periodic() { + SmartDashboard.putNumber("Servo Left Pos", m_leftClaw.getRaw()); + SmartDashboard.putNumber("Servo Right Pos", m_rightClaw.getRaw()); // if (fullyOpen() || fullyClosed()) { // m_leftClaw.setSpeed(0.0); // m_rightClaw.setSpeed(0.0); @@ -165,5 +167,5 @@ public class Claws extends SubsystemBase { // if(m_rightLimitSwitchF.isPressed() || m_rightLimitSwitchR.isPressed()) // // m_rightOffset = m_rightClaw.getEncoder().getPosition(); // m_rightOffset = m_rightClaw.getPosition(); - // } + } } \ No newline at end of file