Team4388/2023WayOfTheRobot
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artificial soft limits

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This commit is contained in:
Abhishrek05
2023-03-14 14:26:47 -06:00
parent 29c6a29702
commit 03c938348f
3 changed files with 22 additions and 25 deletions
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src/main/java/frc4388/robot/subsystems/Claw.java
+5 -5
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@@ -22,9 +22,9 @@ public class Claw extends SubsystemBase {
System.out.println("setClaw()");
// m_clawMotor.setPosition(0.5);
// m_clawMotor.setRaw(0);
// m_clawMotor.setRaw(m_open ? 0 : 255);
m_clawMotor.setRaw(m_open ? 1000 : 2000);
// m_clawMotor.setSpeed(m_open ? -1 : 1);
PWMJNI.setPWMSpeed(m_clawMotor.getHandle(), m_open ? -1 : 1);
// PWMJNI.setPWMSpeed(m_clawMotor.getHandle(), m_open ? -1 : 1);
// PWMJNI.setPWMDisabled(0);
System.out.println("Claw Pos: " + m_clawMotor.getRaw());
}
@@ -39,9 +39,9 @@ public class Claw extends SubsystemBase {
}
public void disable() {
m_disabled = true;
// PWMJNI.setPWMRaw(m_clawMotor.getHandle(), PWMJNI.getPWMRaw(m_clawMotor.getHandle()));
PWMJNI.setPWMSpeed(m_clawMotor.getHandle(), 0.5);
// m_disabled = true;
// // PWMJNI.setPWMRaw(m_clawMotor.getHandle(), PWMJNI.getPWMRaw(m_clawMotor.getHandle()));
// PWMJNI.setPWMSpeed(m_clawMotor.getHandle(), 0.5);
// PWMJNI.setPWMDisabled(m_clawMotor.getHandle());
}