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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; package frc4388.robot.subsystems;
import edu.wpi.first.wpilibj.Servo; import com.revrobotics.CANSparkMax;
import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.HooksConstants; import frc4388.robot.Constants.HooksConstants;
public class Hooks extends SubsystemBase { public class Hooks extends SubsystemBase {
private Servo m_leftHook; private CANSparkMax m_leftHook;
private Servo m_rightHook; private CANSparkMax m_rightHook;
double m_leftOffset;
double m_rightOffset;
private boolean m_open; private boolean m_open;
public Hooks(Servo leftHook, Servo rightHook) { public Hooks(CANSparkMax leftHook, CANSparkMax rightHook) {
m_leftHook = leftHook; m_leftHook = leftHook;
m_rightHook = rightHook; m_rightHook = rightHook;
m_open = false; setOpen(false);
setOpen(m_open);
} }
public void setOpen(boolean open) { public void setOpen(boolean open) {
if(open) { if(open) {
m_leftHook.setPosition(HooksConstants.OPEN_POSITION); m_leftHook.getEncoder().setPosition(HooksConstants.OPEN_POSITION + m_leftOffset);
m_rightHook.setPosition(HooksConstants.OPEN_POSITION); m_rightHook.getEncoder().setPosition(HooksConstants.OPEN_POSITION + m_rightOffset);
} else { } else {
m_leftHook.setPosition(HooksConstants.CLOSE_POSITION); m_leftHook.getEncoder().setPosition(HooksConstants.CLOSE_POSITION + m_leftOffset);
m_rightHook.setPosition(HooksConstants.CLOSE_POSITION); m_rightHook.getEncoder().setPosition(HooksConstants.CLOSE_POSITION + m_rightOffset);
} }
m_open = open;
} }
public boolean getOpen() { public boolean getOpen() {
vendordeps/REVLib.json
+73
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@@ -0,0 +1,73 @@
{
"fileName": "REVLib.json",
"name": "REVLib",
"version": "2022.1.1",
"uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
"mavenUrls": [
"https://maven.revrobotics.com/"
],
"jsonUrl": "https://software-metadata.revrobotics.com/REVLib.json",
"javaDependencies": [
{
"groupId": "com.revrobotics.frc",
"artifactId": "REVLib-java",
"version": "2022.1.1"
}
],
"jniDependencies": [
{
"groupId": "com.revrobotics.frc",
"artifactId": "REVLib-driver",
"version": "2022.1.1",
"skipInvalidPlatforms": true,
"isJar": false,
"validPlatforms": [
"windowsx86-64",
"windowsx86",
"linuxaarch64bionic",
"linuxx86-64",
"linuxathena",
"linuxraspbian",
"osxx86-64"
]
}
],
"cppDependencies": [
{
"groupId": "com.revrobotics.frc",
"artifactId": "REVLib-cpp",
"version": "2022.1.1",
"libName": "REVLib",
"headerClassifier": "headers",
"sharedLibrary": false,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"windowsx86",
"linuxaarch64bionic",
"linuxx86-64",
"linuxathena",
"linuxraspbian",
"osxx86-64"
]
},
{
"groupId": "com.revrobotics.frc",
"artifactId": "REVLib-driver",
"version": "2022.1.1",
"libName": "REVLibDriver",
"headerClassifier": "headers",
"sharedLibrary": false,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"windowsx86",
"linuxaarch64bionic",
"linuxx86-64",
"linuxathena",
"linuxraspbian",
"osxx86-64"
]
}
]
}