Team4388/2023WayOfTheRobot
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added velocity control

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Aarav
2023-03-01 16:45:57 -07:00
parent 1fa95bbacb
commit 3cdf5e65fe
2 changed files with 15 additions and 0 deletions
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src/main/java/frc4388/robot/subsystems/Arm.java
+13
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@@ -46,6 +46,14 @@ public class Arm extends SubsystemBase {
this(pivot, tele, encoder, false);
}
public void setRotVel(double vel) {
m_pivot.set(ControlMode.Velocity, vel);
}
public void setTeleVel(double vel) {
m_tele.set(ControlMode.Velocity, vel);
}
public void armSetRotation(double rot) {
if (rot > 1 || rot < 0) return;
// Move arm code
@@ -71,6 +79,11 @@ public class Arm extends SubsystemBase {
(ArmConstants.TELE_REVERSE_SOFT_LIMIT - ArmConstants.TELE_FORWARD_SOFT_LIMIT);
}
public double getArmRotation() {
return (m_pivotEncoder.getAbsolutePosition() - ArmConstants.PIVOT_FORWARD_SOFT_LIMIT) /
(ArmConstants.PIVOT_REVERSE_SOFT_LIMIT - ArmConstants.PIVOT_FORWARD_SOFT_LIMIT);
}
public void runPivotTele(double pivot, double tele) {
var rot = 0;