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This commit is contained in:
Michael Mikovsky
2025-02-17 15:45:59 -07:00
parent b4b123237b
commit 47646dc12b
3 changed files with 38 additions and 16 deletions
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src/main/java/frc4388/robot/subsystems/Elevator.java
+24 -8
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@@ -5,10 +5,12 @@
package frc4388.robot.subsystems;
import com.ctre.phoenix6.configs.Slot0Configs;
import com.ctre.phoenix6.controls.PositionDutyCycle;
import com.ctre.phoenix6.controls.PositionVoltage;
import com.ctre.phoenix6.hardware.TalonFX;
import com.ctre.phoenix6.signals.NeutralModeValue;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
@@ -58,8 +60,8 @@ public class Elevator extends SubsystemBase {
//PID methods
private void PIDPosition(TalonFX motor, double position) {
var request = new PositionVoltage(position);
elevatorMotor.setControl(request);
var request = new PositionDutyCycle(position);
motor.setControl(request);
}
public void elevatorStop() {
@@ -82,6 +84,7 @@ public class Elevator extends SubsystemBase {
case WatingBeamTriped: {
PIDPosition(elevatorMotor, ElevatorConstants.WAITING_POSITION_BEAM_BREAK_ELEVATOR);
PIDPosition(endefectorMotor, ElevatorConstants.COMPLETLY_DOWN_ENDEFECTOR);
armShuffle();
break;
}
@@ -106,6 +109,12 @@ public class Elevator extends SubsystemBase {
}
// public void driveElevatorStick(Translation2d stick) {
// if (stick.getNorm() > 0.05) {
// elevatorMotor.set(stick.getY());
// }
// }
private void periodicWaiting() {
if (basinBeamBreak.get()) transitionState(CoordinationState.WatingBeamTriped);
}
@@ -122,14 +131,21 @@ public class Elevator extends SubsystemBase {
public void periodic() {
// This method will be called once per scheduler run
SmartDashboard.putNumber("Basin", basinBeamBreak.get() ? 1 : 0);
SmartDashboard.putNumber("endefector", basinBeamBreak.get() ? 1 : 0);
if (currentState == CoordinationState.Waiting) {
periodicWaiting();
} else if (currentState == CoordinationState.WatingBeamTriped) {
periodicWaitingTripped();
}
SmartDashboard.putNumber("endefector", endefectorLimitSwitch.get() ? 1 : 0);
// if (currentState == CoordinationState.Waiting) {
// periodicWaiting();
// } else if (currentState == CoordinationState.WatingBeamTriped) {
// periodicWaitingTripped();
// }
// } else if (currentState == CoordinationState.ScoringThree || currentState == CoordinationState.ScoringFour) {
// periodicScoring();
// }
}
public void armShuffle(){
if(!basinBeamBreak.get()){
//shuffle the coral with the arm until coral hits beam break
}
}
}