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Switched hook motors

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This commit is contained in:
66945
2022-01-26 17:41:52 -07:00
parent 2502f71ecd
commit e9fc3354d8
2 changed files with 88 additions and 10 deletions
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src/main/java/frc4388/robot/subsystems/Hooks.java
+15 -10
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@@ -1,31 +1,36 @@
package frc4388.robot.subsystems;
import edu.wpi.first.wpilibj.Servo;
import com.revrobotics.CANSparkMax;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.HooksConstants;
public class Hooks extends SubsystemBase {
private Servo m_leftHook;
private Servo m_rightHook;
private CANSparkMax m_leftHook;
private CANSparkMax m_rightHook;
double m_leftOffset;
double m_rightOffset;
private boolean m_open;
public Hooks(Servo leftHook, Servo rightHook) {
public Hooks(CANSparkMax leftHook, CANSparkMax rightHook) {
m_leftHook = leftHook;
m_rightHook = rightHook;
m_open = false;
setOpen(m_open);
setOpen(false);
}
public void setOpen(boolean open) {
if(open) {
m_leftHook.setPosition(HooksConstants.OPEN_POSITION);
m_rightHook.setPosition(HooksConstants.OPEN_POSITION);
m_leftHook.getEncoder().setPosition(HooksConstants.OPEN_POSITION + m_leftOffset);
m_rightHook.getEncoder().setPosition(HooksConstants.OPEN_POSITION + m_rightOffset);
} else {
m_leftHook.setPosition(HooksConstants.CLOSE_POSITION);
m_rightHook.setPosition(HooksConstants.CLOSE_POSITION);
m_leftHook.getEncoder().setPosition(HooksConstants.CLOSE_POSITION + m_leftOffset);
m_rightHook.getEncoder().setPosition(HooksConstants.CLOSE_POSITION + m_rightOffset);
}
m_open = open;
}
public boolean getOpen() {