From 2ac59022dca90b7676b868c332db2130960b7540 Mon Sep 17 00:00:00 2001 From: Aarav Date: Mon, 6 Mar 2023 19:40:50 -0700 Subject: [PATCH] including ukraine --- src/main/java/frc4388/robot/RobotContainer.java | 3 +-- src/main/java/frc4388/robot/subsystems/Claw.java | 4 ++++ 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index e8bb7de..933fbf5 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -147,8 +147,7 @@ public class RobotContainer { })); new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON) - .onTrue(new InstantCommand(() -> m_robotClaw.setClaw(servo_open))); - servo_open = !servo_open; + .onTrue(new InstantCommand(() -> m_robotClaw.toggle())); new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON) .onTrue(new InstantCommand(() -> m_robotArm.resetTeleSoftLimit(), m_robotArm)); diff --git a/src/main/java/frc4388/robot/subsystems/Claw.java b/src/main/java/frc4388/robot/subsystems/Claw.java index 6f1199a..c2e6b87 100644 --- a/src/main/java/frc4388/robot/subsystems/Claw.java +++ b/src/main/java/frc4388/robot/subsystems/Claw.java @@ -18,6 +18,10 @@ public class Claw extends SubsystemBase { m_clawMotor.setRaw(open ? 0 : 2000); } + public void toggle() { + setClaw(!m_open); + } + public boolean isClawOpen() { return m_open; }