Team4388/2023WayOfTheRobot
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Aarav
2023-03-06 19:40:50 -07:00
parent 018bde231b
commit 218eb0e728
2 changed files with 5 additions and 2 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+1 -2
View File
@@ -147,8 +147,7 @@ public class RobotContainer {
})); }));
new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON) new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> m_robotClaw.setClaw(servo_open))); .onTrue(new InstantCommand(() -> m_robotClaw.toggle()));
servo_open = !servo_open;
new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON) new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotArm.resetTeleSoftLimit(), m_robotArm)); .onTrue(new InstantCommand(() -> m_robotArm.resetTeleSoftLimit(), m_robotArm));
src/main/java/frc4388/robot/subsystems/Claw.java
+4
View File
@@ -18,6 +18,10 @@ public class Claw extends SubsystemBase {
m_clawMotor.setRaw(open ? 0 : 2000); m_clawMotor.setRaw(open ? 0 : 2000);
} }
public void toggle() {
setClaw(!m_open);
}
public boolean isClawOpen() { public boolean isClawOpen() {
return m_open; return m_open;
} }