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Merge branch 'cleanup' of https://github.com/Team4388/2022NoWayHome into cleanup

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aarav18
2022-03-24 19:18:05 -06:00
parent f038e14faa 7a22cc4a90
commit bf1695aa5b
2 changed files with 5 additions and 5 deletions
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src/main/java/frc4388/robot/Robot.java
+3 -3
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@@ -147,9 +147,9 @@ public class Robot extends TimedRobot {
Vector2D secondBallPosition = new Vector2D(-(40.44 * (Math.sqrt(2.00) / 2.00)) - ((82.83 - 7.58) * (Math.sqrt(2.00) / 2.00)) - (82.83 / 2.00), -(40.44 * (Math.sqrt(2.00) / 2.00)) + ((82.83 - 7.58) * (Math.sqrt(2.00) / 2.00)) - (219.25 / 2.00)); // * position of second ball, relative to hub.
Vector2D firstToSecond = Vector2D.subtract(secondBallPosition, firstBallPosition);
System.out.println("First Ball (FEET): " + Vector2D.divide(firstBallPosition, 12).toString());
System.out.println("Second Ball (FEET): " + Vector2D.divide(secondBallPosition, 12).toString());
System.out.println("First To Second (FEET): " + Vector2D.divide(firstToSecond, 12).toString());
// System.out.println("First Ball (FEET): " + Vector2D.divide(firstBallPosition, 12).toString());
// System.out.println("Second Ball (FEET): " + Vector2D.divide(secondBallPosition, 12).toString());
// System.out.println("First To Second (FEET): " + Vector2D.divide(firstToSecond, 12).toString());
// current =
// m_robotContainer.m_robotBoomBoom.getCurrent() +
src/main/java/frc4388/robot/subsystems/Climber.java
+2 -2
View File
@@ -18,7 +18,7 @@ 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); //Check
elbow.configReverseSoftLimitThreshold(ClimberConstants.ELBOW_FORWARD_SOFT_LIMIT); // Tune
@@ -40,6 +40,6 @@ public class Climber extends SubsystemBase {
@Override
public void periodic() {
SmartDashboard.putNumber("Elbow Angle", elbow.getSelectedSensorPosition());
SmartDashboard.putBoolean("Climber Folded", (elbow.isRevLimitSwitchClosed() == 1));
SmartDashboard.putBoolean("Climber Folded", (elbow.isFwdLimitSwitchClosed() == 1));
}
}