Team4388/2023WayOfTheRobot
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Revert "Arm command --> Master"

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This commit is contained in:
Aarav Shah
2023-03-16 16:33:07 -06:00
committed by GitHub
parent eb2a54992b
commit e8d5eb1d6d
8 changed files with 44 additions and 122 deletions
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src/main/java/frc4388/robot/subsystems/Arm.java
+15 -23
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@@ -47,7 +47,7 @@ public class Arm extends SubsystemBase {
this(pivot, tele, encoder, false);
}
public void setRotVel(double vel, boolean fast) {
public void setRotVel(double vel) {
var degrees = Math.abs(getArmRotation()) - 135;
SmartDashboard.putNumber("arm degrees", degrees);
SmartDashboard.putNumber("arm rot vel", vel);
@@ -55,23 +55,14 @@ public class Arm extends SubsystemBase {
if ((degrees < 2 && vel < 0) || (degrees > 110 && vel > 0)) {
m_pivot.set(ControlMode.PercentOutput, 0);
} else if (degrees > 90 && vel > 0) {
m_pivot.set(ControlMode.PercentOutput, .2 * vel);
m_pivot.set(ControlMode.PercentOutput, .15 * vel);
} else {
m_pivot.set(ControlMode.PercentOutput, (fast ? .8 : .3) * vel);
m_pivot.set(ControlMode.PercentOutput, .3 * vel);
}
}
public void setTeleVel(double vel, boolean speed) {
m_tele.set(ControlMode.PercentOutput, (speed ? -.9 : .7) * vel);
}
public boolean isTeleIn() {
return m_tele.isRevLimitSwitchClosed() == 1 ||
m_tele.getSelectedSensorPosition() < reverse_tele;
}
public double getTeleUnit() {
return m_tele.getSelectedSensorPosition() - reverse_tele;
public void setTeleVel(double vel) {
m_tele.set(ControlMode.PercentOutput, -0.5 * vel);
}
public void armSetRotation(double rot) {
@@ -108,8 +99,8 @@ public class Arm extends SubsystemBase {
(ArmConstants.TELE_FORWARD_SOFT_LIMIT - ArmConstants.TELE_REVERSE_SOFT_LIMIT);
if (pivot > 0 || tele < 0 || checkLimits(abs_tele, abs_pivot)) {
setRotVel(pivot, false);
setTeleVel(tele, false);
setRotVel(pivot);
setTeleVel(tele);
}
}
@@ -136,8 +127,6 @@ 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);
@@ -146,9 +135,8 @@ public class Arm extends SubsystemBase {
tele_softLimit = !tele_softLimit;
}
boolean resetable = true;
boolean tele_reset = true;
double reverse_tele = 0;
boolean resetable = true;
boolean tele_reset = true;
@Override
public void periodic() {
@@ -160,8 +148,6 @@ 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;
@@ -173,6 +159,12 @@ public class Arm extends SubsystemBase {
boolean soft_limits = true;
public void killSoftLimits() {
resetTeleSoftLimit();
var pivot_soft = m_pivot.getSelectedSensorPosition();
var tele_soft = m_tele.getSelectedSensorPosition();
m_pivot.configForwardSoftLimitEnable(!soft_limits);
m_pivot.configReverseSoftLimitEnable(!soft_limits);
soft_limits = !soft_limits;
}
}