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Min speed and endeffector motor safety

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This commit is contained in:
Michael Mikovsky
2025-03-06 17:34:16 -07:00
parent 90f8e0ee70
commit 85965a892a
6 changed files with 54 additions and 11 deletions
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src/main/java/frc4388/robot/subsystems/Elevator.java
+14
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@@ -295,7 +295,19 @@ public class Elevator extends Subsystem {
@Override
public void periodic() {
// double elevatorVelocity = elevatorMotor.getVelocity().getValueAsDouble();
// double elevatorTorque = elevatorMotor.getTorqueCurrent().getValueAsDouble();
double endeffectorVelocity = endeffectorMotor.getVelocity().getValueAsDouble();
double endeffectorTorque = endeffectorMotor.getTorqueCurrent().getValueAsDouble();
if(endeffectorVelocity < ElevatorConstants.SAFETY_ENDEFFECTOR_MIN_VELOCITY && endeffectorTorque > ElevatorConstants.SAFETY_ENDEFFECTOR_MAX_TORQUE ){
PIDPosition(elevatorMotor, endeffectorMotor.getPosition().getValueAsDouble());
}
// This method will be called once per scheduler run
SmartDashboard.putNumber("Velocity Endeffector", endeffectorVelocity);
SmartDashboard.putNumber("Torque Endeffector", endeffectorTorque);
SmartDashboard.putNumber("Basin", basinBeamBreak.get() ? 1 : 0);
SmartDashboard.putNumber("endefector", endeffectorLimitSwitch.get() ? 1 : 0);
SmartDashboard.putNumber("intake", intakeIR.get() ? 1 : 0);
@@ -314,6 +326,8 @@ public class Elevator extends Subsystem {
if(!intakeIR.get()){
led.setMode(LEDConstants.DOWN_PATTERN);
}
// } else if (currentState == CoordinationState.ScoringThree || currentState == CoordinationState.ScoringFour) {
// periodicScoring();
// }