Team4388/2023WayOfTheRobot
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cone high done kinda

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This commit is contained in:
aarav18
2023-03-23 18:48:57 -06:00
parent 087b04b3f7
commit 58a4c9a594
3 changed files with 20 additions and 9 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+9 -7
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@@ -158,16 +158,17 @@ public class RobotContainer {
);
private SequentialCommandGroup placeConeHigh = new SequentialCommandGroup(
new PivotCommand(m_robotArm, 0),
new TeleCommand(m_robotArm, 0),
toggleClaw.asProxy(),
armToHome.asProxy()
new PivotCommand(m_robotArm, 178),
new WaitCommand(0.3),
new TeleCommand(m_robotArm, 56000)
// toggleClaw.asProxy(),
// armToHome.asProxy()
);
private SequentialCommandGroup placeConeMid = new SequentialCommandGroup(
new PivotCommand(m_robotArm, 189),
new PivotCommand(m_robotArm, 188),
new WaitCommand(0.3),
new TeleCommand(m_robotArm, 34000)
new TeleCommand(m_robotArm, 29500)
// toggleClaw.asProxy(),
// armToHome.asProxy()
);
@@ -179,7 +180,6 @@ public class RobotContainer {
armToHome.asProxy()
);
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
*/
@@ -304,6 +304,8 @@ public class RobotContainer {
// 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));
// kill soft limits
new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON) // final
src/main/java/frc4388/robot/RobotMap.java
+2
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@@ -12,6 +12,7 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.CANCoder;
import com.ctre.phoenix.sensors.WPI_Pigeon2;
import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMax.IdleMode;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj.PWM;
@@ -176,4 +177,5 @@ public class RobotMap {
Servo leftClaw = new Servo(0);
Servo rightClaw = new Servo(1);
CANSparkMax spinnyspin = new CANSparkMax(18, MotorType.kBrushless);
spinnyspin.setIdleMode(IdleMode.kBrake);
}
src/main/java/frc4388/robot/subsystems/Claw.java
+9 -2
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@@ -35,6 +35,11 @@ public class Claw extends SubsystemBase {
// setClaw(false);
}
public void setAngle(double angle) {
m_leftMotor.setAngle(angle);
m_leftMotor.setAngle(180 - angle);
}
public void setClaw(boolean open) {
// Open claw
m_open = open;
@@ -43,8 +48,10 @@ public class Claw extends SubsystemBase {
// m_leftMotor.setBounds(4000, 20000, 2000, 0, 0);
m_leftMotor.setAngle(m_open ? 0 : 180);
m_rightMotor.setAngle(m_open ? 180 : 0);
// m_leftMotor.setAngle(m_open ? 0 : 180);
// m_rightMotor.setAngle(m_open ? 180 : 0);
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);