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claws working

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This commit is contained in:
aarav18
2022-03-18 10:45:08 -06:00
parent f1ea7cc84c
commit 71c9cd2e40
1 changed files with 8 additions and 6 deletions
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src/main/java/frc4388/robot/subsystems/Claws.java
+8 -6
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@@ -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();
// }
}
}