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Swerve calibration, L2, Autos

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This commit is contained in:
Michael Mikovsky
2025-03-04 19:46:52 -07:00
parent 6762ed16e6
commit 7dc6105145
7 changed files with 34 additions and 50 deletions
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src/main/java/frc4388/robot/subsystems/Elevator.java
+6 -2
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@@ -306,6 +306,10 @@ public class Elevator extends Subsystem {
} else if (currentState == CoordinationState.Ready) {
periodicReady();
}
if(!intakeIR.get()){
led.setMode(LEDConstants.DOWN_PATTERN);
}
// } else if (currentState == CoordinationState.ScoringThree || currentState == CoordinationState.ScoringFour) {
// periodicScoring();
// }
@@ -324,8 +328,8 @@ public class Elevator extends Subsystem {
}
public boolean readyToMove() {
// return !intakeIR.get() || hasCoral();
return hasCoral();
return !intakeIR.get() || hasCoral() || !endeffectorLimitSwitch.get();
// return hasCoral();
}
public void armShuffle(){