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Fix limit switch and maybe autos

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This commit is contained in:
Michael Mikovsky
2025-02-27 19:45:18 -07:00
parent 1b90bc8289
commit a063f4b309
5 changed files with 42 additions and 27 deletions
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src/main/java/frc4388/robot/subsystems/Elevator.java
+7 -2
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@@ -229,6 +229,8 @@ public class Elevator extends SubsystemBase {
private void periodicWaiting() {
if (!basinBeamBreak.get())
transitionState(CoordinationState.Ready);
if(!endeffectorLimitSwitch.get())
transitionState(CoordinationState.Hovering);
}
// private void periodicWaitingTripped() {
@@ -237,12 +239,15 @@ public class Elevator extends SubsystemBase {
// }
private void periodicReady() {
if (elevatorAtReference())
if (elevatorAtReference() && !endeffectorLimitSwitch.get())
transitionState(CoordinationState.Hovering);
if(elevatorAtReference() && endeffectorLimitSwitch.get())
transitionState(CoordinationState.Waiting);
}
private void periodicScoring() {
if (!endeffectorLimitSwitch.get()) transitionState(CoordinationState.Waiting);
if (!endeffectorLimitSwitch.get())
transitionState(CoordinationState.Waiting);
}
public void manualElevatorVel(double velocity) {