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This commit is contained in:
66945
2022-03-16 14:41:27 -06:00
parent 8aedbd33dc
commit c28a8d0599
4 changed files with 241 additions and 13 deletions
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src/main/java/frc4388/robot/subsystems/Claws.java
+11 -3
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@@ -1,5 +1,7 @@
package frc4388.robot.subsystems;
import java.nio.file.ClosedWatchServiceException;
import com.ctre.phoenix.motorcontrol.LimitSwitchNormal;
import com.revrobotics.CANSparkMax;
import com.revrobotics.SparkMaxLimitSwitch;
@@ -7,6 +9,7 @@ import com.revrobotics.SparkMaxLimitSwitch;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.ClawConstants;
import frc4388.robot.Constants.ClimberConstants;
public class Claws extends SubsystemBase {
public CANSparkMax m_leftClaw;
@@ -112,15 +115,20 @@ public class Claws extends SubsystemBase {
m_rightClaw.set(-0.1);
}
m_open = open;
// m_open = open;
}
public double[] getOffsets() {
return new double[] {m_leftOffset, m_rightOffset};
}
public boolean getOpen() {
return m_open;
public boolean fullyOpen() {
return Math.abs(m_leftClaw.getEncoder().getPosition() - ClawConstants.OPEN_POSITION) < ClawConstants.THRESHOLD &&
Math.abs(m_rightClaw.getEncoder().getPosition() - ClawConstants.OPEN_POSITION) < ClawConstants.THRESHOLD; }
public boolean fullyClosed() {
return Math.abs(m_leftClaw.getEncoder().getPosition() - ClawConstants.CLOSE_POSITION) < ClawConstants.THRESHOLD &&
Math.abs(m_rightClaw.getEncoder().getPosition() - ClawConstants.CLOSE_POSITION) < ClawConstants.THRESHOLD;
}
/**