defualt command and soft limits

2026-06-09 00:37:59 -06:00 · 2023-01-21 13:22:37 -07:00
parent 2b71be8c7c
commit 904c3dcc2d
4 changed files with 49 additions and 1 deletions
@@ -22,10 +22,23 @@ public class Arm extends SubsystemBase {
    pivot.set(output);
  }

-  public void runTelescope(double output) {
+  public void runTele(double output) {
    tele.set(output);
  }

+  public void runPivotAndTele(double pOutput, double tOutput) {
+    pivot.set(pOutput);
+    tele.set(tOutput);
+  }
+
+  public double getPivotPos() {
+    return pivot.getSelectedSensorPosition();
+  }
+
+  public double getTelePos() {
+    return tele.getSelectedSensorPosition();
+  }
+
  @Override
  public void periodic() {
    // This method will be called once per scheduler run