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added deferred blocks

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This commit is contained in:
66945
2023-03-14 10:35:53 -06:00
parent 801619ef30
commit 2986103e9f
3 changed files with 35 additions and 1 deletions
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src/main/java/frc4388/robot/subsystems/Arm.java
+5 -1
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@@ -10,6 +10,7 @@ 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;
@@ -30,6 +31,9 @@ public class Arm extends SubsystemBase {
tele.configFactoryDefault();
m_pivot.configFactoryDefault();
// * Example of deferred code
new DeferredBlock(() -> resetTeleSoftLimit());
// TalonFXConfiguration pivotConfig = new TalonFXConfiguration();
// pivotConfig.slot0.kP = 0.5;//ArmConstants.kP;
// pivotConfig.slot0.kI = 0.0;//ArmConstants.kI;
@@ -41,7 +45,7 @@ public class Arm extends SubsystemBase {
// m_pivot.configAllSettings(pivotConfig);
resetTeleSoftLimit();
// resetTeleSoftLimit();
CANCoderConfiguration config = new CANCoderConfiguration();
config.magnetOffsetDegrees = ArmConstants.OFFSET;