Team4388/2023WayOfTheRobot
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Update Claw.java

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This commit is contained in:
Aarav Shah
2023-03-14 15:27:53 -06:00
committed by GitHub
parent aa32a223d6
commit a10e3f4573
1 changed files with 1 additions and 21 deletions
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src/main/java/frc4388/robot/subsystems/Claw.java
+1 -21
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@@ -15,22 +15,12 @@ public class Claw extends SubsystemBase {
}
public void setClaw(boolean open) {
if (m_disabled) return;
// Open claw
// m_clawMotor.setRaw(150);
m_open = open;
System.out.println("setClaw()");
// m_clawMotor.setPosition(0.5);
// m_clawMotor.setRaw(0);
m_clawMotor.setRaw(m_open ? 1000 : 2000);
// m_clawMotor.setSpeed(m_open ? -1 : 1);
// PWMJNI.setPWMSpeed(m_clawMotor.getHandle(), m_open ? -1 : 1);
// PWMJNI.setPWMDisabled(0);
System.out.println("Claw Pos: " + m_clawMotor.getRaw());
}
public void toggle() {
System.out.println("toggle()");
setClaw(!m_open);
}
@@ -38,14 +28,4 @@ public class Claw extends SubsystemBase {
return m_open;
}
public void disable() {
// m_disabled = true;
// // PWMJNI.setPWMRaw(m_clawMotor.getHandle(), PWMJNI.getPWMRaw(m_clawMotor.getHandle()));
// PWMJNI.setPWMSpeed(m_clawMotor.getHandle(), 0.5);
// PWMJNI.setPWMDisabled(m_clawMotor.getHandle());
}
public void enable() {
m_disabled = false;
}
}
}