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claw is correct now

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This commit is contained in:
Aarav
2023-03-21 16:17:20 -06:00
parent 39640662d9
commit 0129594f89
4 changed files with 129 additions and 15 deletions
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src/main/java/frc4388/robot/subsystems/Claw.java
+36 -8
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@@ -1,23 +1,44 @@
package frc4388.robot.subsystems;
import edu.wpi.first.hal.PWMJNI;
import java.util.Timer;
import java.util.TimerTask;
import com.revrobotics.CANSparkMax;
import edu.wpi.first.wpilibj.PWM;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Claw extends SubsystemBase {
private PWM m_clawMotor;
private boolean m_open = false;
private boolean m_disabled = false;
private final PWM m_leftMotor;
private final PWM m_rightMotor;
private final CANSparkMax m_spinnyspin;
private boolean m_open = false;
// Opens claw
public Claw(PWM m_clawMotor) {
this.m_clawMotor = m_clawMotor;
setClaw(true);
public Claw(PWM leftMotor, PWM rightMotor, CANSparkMax spinnyspin) {
m_leftMotor = leftMotor;
m_rightMotor = rightMotor;
m_spinnyspin = spinnyspin;
setClaw(true);
}
public void setClaw(boolean open) {
// Open claw
m_open = open;
m_clawMotor.setRaw(m_open ? 1000 : 2000);
m_leftMotor.setRaw(m_open ? 1000 : 2000);
m_rightMotor.setRaw(m_open ? 2000 : 1000);
if (!m_open) {
m_spinnyspin.set(-0.2);
new Timer().schedule(new TimerTask() {
@Override
public void run() {
nospinnyspin();
}
}, 750);
}
}
public void toggle() {
@@ -28,4 +49,11 @@ public class Claw extends SubsystemBase {
return m_open;
}
public void yesspinnyspin() {
m_spinnyspin.set(0.2);
}
public void nospinnyspin() {
m_spinnyspin.set(0);
}
}