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fixes

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This commit is contained in:
Ryan Manley
2022-03-12 14:59:21 -07:00
parent 89ba3afb00
commit 79435399a3
9 changed files with 103 additions and 83 deletions
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src/main/java/frc4388/robot/subsystems/Intake.java
+7 -4
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@@ -47,9 +47,9 @@ public class Intake extends SubsystemBase {
// This method will be called once per scheduler run
}
/**
* Runs The Intake With Triggers.
* @param leftTrigger Left Trigger to Run -
* @param rightTrigger Right Trigger to Run +
* Runs The Intake With Triggers as input
* @param leftTrigger Left Trigger to Run Inward
* @param rightTrigger Right Trigger to Run Outward
*/
public void runWithTriggers(double leftTrigger, double rightTrigger) {
m_intakeMotor.set((rightTrigger - leftTrigger) * 0.3);
@@ -65,7 +65,10 @@ public class Intake extends SubsystemBase {
double extenderMotorSpeed = extended ? 0.25d : -0.25d;
m_extenderMotor.set(extenderMotorSpeed);
}
/**
* Moves the extender motor to pull the intake in or out
* @param input A value from -1.0 to 1.0, positive is in
*/
public void runExtender(double input) {
if (!m_serializer.getBeam() && input < 0.) return;
m_extenderMotor.set(input);