From 291ecc8c9638af369955503dce5a219005a4b939 Mon Sep 17 00:00:00 2001 From: Aarav Date: Fri, 24 Mar 2023 08:17:18 -0600 Subject: [PATCH] claw made to only do cubes this match --- src/main/java/frc4388/robot/RobotContainer.java | 6 +++--- src/main/java/frc4388/robot/subsystems/Claw.java | 13 +++---------- 2 files changed, 6 insertions(+), 13 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index dfffdf4..4d0d0b9 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -304,10 +304,10 @@ public class RobotContainer { .onFalse(interruptCommand.asProxy()); // 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)); + .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 diff --git a/src/main/java/frc4388/robot/subsystems/Claw.java b/src/main/java/frc4388/robot/subsystems/Claw.java index bcfe0e0..49e04f2 100644 --- a/src/main/java/frc4388/robot/subsystems/Claw.java +++ b/src/main/java/frc4388/robot/subsystems/Claw.java @@ -43,22 +43,15 @@ public class Claw extends SubsystemBase { public void setClaw(boolean open) { // Open claw m_open = open; - // m_leftMotor.setRaw(m_open ? 1000 : 2000); - // m_rightMotor.setRaw(m_open ? 2000 : 1000); - - // m_leftMotor.setBounds(4000, 20000, 2000, 0, 0); + // ! THIS IS FOR CONE // m_leftMotor.setAngle(m_open ? 0 : 180); // m_rightMotor.setAngle(m_open ? 180 : 0); + + // ! THIS IS FOR CUBE 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); - - // m_leftMotor.setRaw(m_open ? 1500 : 2000); - // m_rightMotor.setRaw(m_open ? 1500 : 1000); - // if (m_open) // m_spinnyspin.set(0.2); // else