Team4388/2023WayOfTheRobot
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This commit is contained in:
66945
2023-03-15 09:53:52 -06:00
parent 7dbf12b6ac
commit 8d5e11b267
3 changed files with 64 additions and 4 deletions
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src/main/java/frc4388/robot/subsystems/Arm.java
+12 -2
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@@ -65,6 +65,11 @@ public class Arm extends SubsystemBase {
m_tele.set(ControlMode.PercentOutput, -0.5 * vel);
}
public boolean isTeleIn() {
return m_tele.isFwdLimitSwitchClosed() == 1 ||
m_tele.getSelectedSensorPosition() < reverse_tele;
}
public void armSetRotation(double rot) {
if (rot > 1 || rot < 0) return;
// Move arm code
@@ -127,6 +132,8 @@ public class Arm extends SubsystemBase {
m_tele.configReverseSoftLimitThreshold(tele_soft);
m_tele.configForwardSoftLimitEnable(true);
m_tele.configReverseSoftLimitEnable(true);
reverse_tele = tele_soft;
} else {
m_tele.configForwardSoftLimitEnable(false);
m_tele.configReverseSoftLimitEnable(false);
@@ -135,8 +142,9 @@ public class Arm extends SubsystemBase {
tele_softLimit = !tele_softLimit;
}
boolean resetable = true;
boolean tele_reset = true;
boolean resetable = true;
boolean tele_reset = true;
double reverse_tele = 0;
@Override
public void periodic() {
@@ -148,6 +156,8 @@ public class Arm extends SubsystemBase {
m_tele.configReverseSoftLimitThreshold(1000 - tele_soft);
m_tele.configForwardSoftLimitEnable(true);
m_tele.configReverseSoftLimitEnable(true);
reverse_tele = 1000 - tele_soft;
tele_reset = false;
} else if (m_tele.isFwdLimitSwitchClosed() == 0) {
tele_reset = true;