Team4388/2024AcrossTheRidgebotiverse
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3/13's changes

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This commit is contained in:
Abhishrek05
2024-03-13 14:15:53 -06:00
parent 91fbfb7af3
commit 230b1511d9
4 changed files with 22 additions and 20 deletions
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src/main/java/frc4388/robot/subsystems/Climber.java
+12 -6
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@@ -7,10 +7,12 @@ package frc4388.robot.subsystems;
import com.ctre.phoenix6.configs.Slot0Configs;
import com.ctre.phoenix6.controls.PositionVoltage;
import com.ctre.phoenix6.hardware.TalonFX;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants;
import frc4388.robot.Constants.ClimbConstants;
import frc4388.robot.Constants.IntakeConstants;
//! 6.5C Scoring Criteria for Stage
@@ -21,6 +23,7 @@ public class Climber extends SubsystemBase {
public Climber(TalonFX climbMotor) {
this.climbMotor = climbMotor;
this.climbMotor.setInverted(true);
var slot0Configs = new Slot0Configs();
slot0Configs.kP = 0.7; // An error of 0.5 rotations results in 12 V output
slot0Configs.kI = 0.0; // no output for integrated error
@@ -30,15 +33,17 @@ public class Climber extends SubsystemBase {
}
public void climbOut() {
PositionVoltage request = new PositionVoltage(0);
climbMotor.setControl(request.withPosition(-520));
//climbMotor.set(Constants.ClimbConstants.CLIMB_IN_SPEED);
//PositionVoltage request = new PositionVoltage(0);
//climbMotor.setControl(request.withPosition(-520));
climbMotor.set(Constants.ClimbConstants.CLIMB_OUT_SPEED);
}
public void climbIn() {
PositionVoltage request = new PositionVoltage(-520);
climbMotor.setControl(request.withPosition(0));
// climbMotor.set(Constants.ClimbConstants.CLIMB_IN_SPEED);
//PositionVoltage request = new PositionVoltage(-520);
//climbMotor.setControl(request.withPosition(0));
climbMotor.set(Constants.ClimbConstants.CLIMB_IN_SPEED);
;
}
public void stopClimb() {
@@ -48,5 +53,6 @@ public class Climber extends SubsystemBase {
@Override
public void periodic() {
// This method will be called once per scheduler run
SmartDashboard.putNumber("climber pos", climbMotor.getPosition().getValue());
}
}