Team4388/2023WayOfTheRobot
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import cleanup

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This commit is contained in:
aarav18
2023-03-16 23:13:10 -06:00
parent f28c382da7
commit 04c7386b67
11 changed files with 0 additions and 53 deletions
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src/main/java/frc4388/robot/subsystems/Arm.java
-9
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@@ -1,28 +1,20 @@
package frc4388.robot.subsystems;
import com.ctre.phoenix.motorcontrol.ControlMode;
import com.ctre.phoenix.motorcontrol.FeedbackDevice;
import com.ctre.phoenix.motorcontrol.LimitSwitchNormal;
import com.ctre.phoenix.motorcontrol.LimitSwitchSource;
import com.ctre.phoenix.motorcontrol.RemoteSensorSource;
import com.ctre.phoenix.motorcontrol.TalonFXFeedbackDevice;
import com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.CANCoder;
import com.ctre.phoenix.sensors.CANCoderConfiguration;
import frc4388.robot.Constants.ArmConstants;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.utility.DeferredBlock;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Arm extends SubsystemBase {
private WPI_TalonFX m_tele;
public WPI_TalonFX m_pivot;
private CANCoder m_pivotEncoder;
private boolean m_debug;
// Moves arm to distance [dist] then returns new ang
public Arm(WPI_TalonFX pivot, WPI_TalonFX tele, CANCoder encoder, boolean debug) {
@@ -140,7 +132,6 @@ public class Arm extends SubsystemBase {
@Override
public void periodic() {
double degrees = Math.abs(m_pivotEncoder.getAbsolutePosition() - 135);
if (m_tele.isFwdLimitSwitchClosed() == 1 && tele_reset) {
var tele_soft = m_tele.getSelectedSensorPosition();