Team4388/2023WayOfTheRobot
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Aarav
2023-03-11 14:03:36 -07:00
parent 814fa4bcc2
commit e98c3a09e1
7 changed files with 143 additions and 30 deletions
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src/main/java/frc4388/robot/subsystems/Claw.java
+25 -2
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@@ -1,10 +1,12 @@
package frc4388.robot.subsystems;
import edu.wpi.first.hal.PWMJNI;
import edu.wpi.first.wpilibj.PWM;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Claw extends SubsystemBase {
private PWM m_clawMotor;
private boolean m_open = false;
private boolean m_open = false;
private boolean m_disabled = false;
// Opens claw
public Claw(PWM m_clawMotor) {
@@ -13,16 +15,37 @@ public class Claw extends SubsystemBase {
}
public void setClaw(boolean open) {
if (m_disabled) return;
// Open claw
// m_clawMotor.setRaw(150);
m_open = open;
m_clawMotor.setRaw(open ? 0 : 2000);
System.out.println("setClaw()");
// m_clawMotor.setPosition(0.5);
// m_clawMotor.setRaw(0);
// m_clawMotor.setRaw(m_open ? 0 : 255);
// 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);
}
public boolean isClawOpen() {
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;
}
}