Team4388/2023WayOfTheRobot
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claw made to only do cubes this match

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Aarav
2023-03-24 08:17:18 -06:00
parent d373f25d94
commit 291ecc8c96
2 changed files with 6 additions and 13 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+3 -3
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@@ -304,10 +304,10 @@ public class RobotContainer {
.onFalse(interruptCommand.asProxy());
// toggle claw
// new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON) // final
// .onTrue(toggleClaw.asProxy());
new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON) // final
.onTrue(new InstantCommand(() -> m_robotClaw.setAngle(45), m_robotClaw));
.onTrue(toggleClaw.asProxy());
// new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON) // final
// .onTrue(new InstantCommand(() -> m_robotClaw.setAngle(45), m_robotClaw));
// kill soft limits
new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON) // final
src/main/java/frc4388/robot/subsystems/Claw.java
+3 -10
View File
@@ -43,22 +43,15 @@ public class Claw extends SubsystemBase {
public void setClaw(boolean open) {
// Open claw
m_open = open;
// m_leftMotor.setRaw(m_open ? 1000 : 2000);
// m_rightMotor.setRaw(m_open ? 2000 : 1000);
// m_leftMotor.setBounds(4000, 20000, 2000, 0, 0);
// ! THIS IS FOR CONE
// m_leftMotor.setAngle(m_open ? 0 : 180);
// m_rightMotor.setAngle(m_open ? 180 : 0);
// ! THIS IS FOR CUBE
m_leftMotor.setAngle(m_open ? 90 : 180);
m_rightMotor.setAngle(m_open ? 90 : 0);
// m_leftMotor.setRaw(m_open ? 0 : 4000);
// m_rightMotor.setRaw(m_open ? 4000 : 0);
// m_leftMotor.setRaw(m_open ? 1500 : 2000);
// m_rightMotor.setRaw(m_open ? 1500 : 1000);
// if (m_open)
// m_spinnyspin.set(0.2);
// else