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clikber

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This commit is contained in:
aarav18
2022-03-18 12:05:29 -06:00
parent 71c9cd2e40
commit f250c8dfce
2 changed files with 13 additions and 4 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+3 -3
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@@ -137,9 +137,9 @@ public class RobotContainer {
/* Default Commands */ /* Default Commands */
// moves climber in xy space with two-axis input from the operator controller // moves climber in xy space with two-axis input from the operator controller
// m_robotClimber.setDefaultCommand( m_robotClimber.setDefaultCommand(
// new RunCommand(() -> m_robotClimber.setMotors(getOperatorController().getLeftX() * 0.4, getOperatorController().getLeftY() * 0.4), new RunCommand(() -> m_robotClimber.setMotors(getOperatorController().getLeftX() * 0.2, getOperatorController().getLeftY() * 0.2),
// m_robotClimber)); m_robotClimber));
// IK command // IK command
src/main/java/frc4388/robot/subsystems/ClimberRewrite.java
+10 -1
View File
@@ -6,6 +6,8 @@ package frc4388.robot.subsystems;
import java.util.HashMap; import java.util.HashMap;
import com.ctre.phoenix.motorcontrol.LimitSwitchNormal;
import com.ctre.phoenix.motorcontrol.LimitSwitchSource;
import com.ctre.phoenix.motorcontrol.NeutralMode; import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.TalonFXControlMode; import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
import com.ctre.phoenix.motorcontrol.can.TalonFX; import com.ctre.phoenix.motorcontrol.can.TalonFX;
@@ -45,7 +47,7 @@ public class ClimberRewrite extends SubsystemBase {
m_elbow.configFactoryDefault(); m_elbow.configFactoryDefault();
m_elbow.setNeutralMode(NeutralMode.Brake); m_elbow.setNeutralMode(NeutralMode.Brake);
setClimberGains(); // setClimberGains();
// shoulderStartPosition = m_shoulder.getSelectedSensorPosition(); // shoulderStartPosition = m_shoulder.getSelectedSensorPosition();
// elbowStartPosition = m_elbow.getSelectedSensorPosition(); // elbowStartPosition = m_elbow.getSelectedSensorPosition();
@@ -62,6 +64,13 @@ public class ClimberRewrite extends SubsystemBase {
m_shoulder.configReverseSoftLimitThreshold(ClimberConstants.SHOULDER_SOFT_LIMIT_REVERSE); m_shoulder.configReverseSoftLimitThreshold(ClimberConstants.SHOULDER_SOFT_LIMIT_REVERSE);
m_shoulder.configReverseSoftLimitEnable(false); m_shoulder.configReverseSoftLimitEnable(false);
m_shoulder.configForwardLimitSwitchSource(LimitSwitchSource.FeedbackConnector, LimitSwitchNormal.NormallyOpen);
m_elbow.configReverseLimitSwitchSource(LimitSwitchSource.FeedbackConnector, LimitSwitchNormal.NormallyOpen);
m_shoulder.configReverseLimitSwitchSource(LimitSwitchSource.FeedbackConnector, LimitSwitchNormal.NormallyOpen);
m_shoulder.overrideLimitSwitchesEnable(true);
m_elbow.overrideLimitSwitchesEnable(true);
tPoint = new Point(); tPoint = new Point();
if(groundRelative) if(groundRelative)