Team4388/2023WayOfTheRobot
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Aarav
2023-03-15 13:03:02 -06:00
parent f7b804680b
commit 29eeee1f7f
5 changed files with 24 additions and 19 deletions
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src/main/java/frc4388/robot/subsystems/Arm.java
+2 -8
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@@ -55,9 +55,9 @@ public class Arm extends SubsystemBase {
if ((degrees < 2 && vel < 0) || (degrees > 110 && vel > 0)) {
m_pivot.set(ControlMode.PercentOutput, 0);
} else if (degrees > 90 && vel > 0) {
m_pivot.set(ControlMode.PercentOutput, .15 * vel);
m_pivot.set(ControlMode.PercentOutput, .1 * vel);
} else {
m_pivot.set(ControlMode.PercentOutput, .3 * vel);
m_pivot.set(ControlMode.PercentOutput, .25 * vel);
}
}
@@ -169,12 +169,6 @@ public class Arm extends SubsystemBase {
boolean soft_limits = true;
public void killSoftLimits() {
resetTeleSoftLimit();
var pivot_soft = m_pivot.getSelectedSensorPosition();
var tele_soft = m_tele.getSelectedSensorPosition();
m_pivot.configForwardSoftLimitEnable(!soft_limits);
m_pivot.configReverseSoftLimitEnable(!soft_limits);
soft_limits = !soft_limits;
}
}