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slight auto adjust, limit switch fix based on sim

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removed unit test for whenCalculatingAngleToCenter
This commit is contained in:
Ryan
2022-03-24 09:18:21 -06:00
parent 3bf0a2b6ba
commit a901aa0ae3
3 changed files with 5 additions and 5 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+1 -1
View File
@@ -394,7 +394,7 @@ public class RobotContainer {
SequentialCommandGroup weirdAutoShootingGroup = new SequentialCommandGroup(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true),
new ParallelCommandGroup(
new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true),
new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage), 1.0)
new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage), 2.0)
)); // * weird way of shooting, i think we should make a new TrackTarget with built-in Storage control instead.
// ! THREE BALL AUTO (HOPEFULLY)
src/main/java/frc4388/robot/subsystems/Climber.java
+3 -3
View File
@@ -17,11 +17,11 @@ 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);
elbow.configForwardSoftLimitThreshold(ClimberConstants.ELBOW_FORWARD_SOFT_LIMIT);
elbow.configForwardSoftLimitEnable(true);
elbow.configReverseSoftLimitThreshold(ClimberConstants.ELBOW_FORWARD_SOFT_LIMIT); // Tune
elbow.configReverseSoftLimitEnable(false);
}
public void setEncoders(double value) {