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Done Test code

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Co-Authored-By: 76842 <90875734+76842@users.noreply.github.com>
This commit is contained in:
aarav18
2022-01-25 17:17:07 -07:00
parent 9112c87156
commit f1f1de18bb
5 changed files with 46 additions and 37 deletions
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src/main/java/frc4388/robot/subsystems/Intake.java
+11 -12
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@@ -17,29 +17,27 @@ public class Intake extends SubsystemBase {
private WPI_TalonFX m_intakeMotor;
private CANSparkMax m_extenderMotor;
private SparkMaxLimitSwitch m_inLimit;
private SparkMaxLimitSwitch m_outLimit;
// private SparkMaxLimitSwitch m_inLimit;
// private SparkMaxLimitSwitch m_outLimit;
public boolean toggle;
/** Creates a new Intake. */
public Intake(WPI_TalonFX intakeMotor, Spark extenderMotor) {
public Intake(WPI_TalonFX intakeMotor, CANSparkMax extenderMotor) {
m_intakeMotor = intakeMotor;
//m_extenderMotor = extenderMotor;
m_extenderMotor = extenderMotor;
// m_intakeMotor.restoreFactoryDefaults();
// m_extenderMotor.restoreFactoryDefaults();
m_extenderMotor.restoreFactoryDefaults();
m_intakeMotor.setNeutralMode(NeutralMode.Brake);
m_extenderMotor.setIdleMode(IdleMode.kBrake);
m_intakeMotor.setInverted(false);
m_extenderMotor.setInverted(true);
m_inLimit = m_extenderMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_outLimit = m_extenderMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_inLimit.enableLimitSwitch(true);
m_outLimit.enableLimitSwitch(true);
// m_inLimit = m_extenderMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
// m_outLimit = m_extenderMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
// m_inLimit.enableLimitSwitch(true);
// m_outLimit.enableLimitSwitch(true);
}
@Override
@@ -52,7 +50,8 @@ public class Intake extends SubsystemBase {
}
public void runExtender(boolean extended) {
//m_extenderMotor.set(extended ? 1 : -1);
double extenderMotorSpeed = extended ? 0.25d : 0.d;
m_extenderMotor.set(extenderMotorSpeed);
}
public void toggleExtender() {