Team4388/2025RidgeScape
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This commit is contained in:
Michael Mikovsky
2025-02-19 21:28:28 -07:00
parent 2641abe8a4
commit c5c6dd2eed
5 changed files with 108 additions and 27 deletions
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src/main/java/frc4388/robot/subsystems/Elevator.java
+22 -12
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@@ -106,12 +106,6 @@ public class Elevator extends SubsystemBase {
break;
}
case ScoringThree: {
PIDPosition(elevatorMotor, ElevatorConstants.SCORING_THREE_ELEVATOR);
PIDPosition(endefectorMotor, ElevatorConstants.SCORING_THREE_ENDEFECTOR);
break;
}
case PrimedFour: {
PIDPosition(elevatorMotor, ElevatorConstants.MAX_POSITION_ELEVATOR);
PIDPosition(endefectorMotor, ElevatorConstants.COMPLETLY_TOP_ENDEFECTOR);
@@ -123,6 +117,22 @@ public class Elevator extends SubsystemBase {
PIDPosition(endefectorMotor, ElevatorConstants.SCORING_FOUR_ENDEFECTOR);
break;
}
case PrimedThree: {
PIDPosition(elevatorMotor, ElevatorConstants.SCORING_THREE_ELEVATOR);
PIDPosition(endefectorMotor, ElevatorConstants.PRIMED_THREE_ENDEFECTOR);
break;
}
case ScoringThree: {
PIDPosition(elevatorMotor, ElevatorConstants.SCORING_THREE_ELEVATOR);
PIDPosition(endefectorMotor, ElevatorConstants.COMPLETLY_DOWN_ENDEFECTOR);
break;
}
default: {
assert false;
}
}
}
@@ -148,7 +158,7 @@ public class Elevator extends SubsystemBase {
private void periodicWaiting() {
if (!basinBeamBreak.get())
transitionState(CoordinationState.WatingBeamTriped);
transitionState(CoordinationState.Ready);
}
private void periodicWaitingTripped() {
@@ -157,8 +167,8 @@ public class Elevator extends SubsystemBase {
}
private void periodicReady() {
if (elevatorAtRefrence())
transitionState(CoordinationState.Hovering);
// if (elevatorAtRefrence())
// transitionState(CoordinationState.Hovering);
}
private void periodicScoring() {
@@ -173,11 +183,11 @@ public class Elevator extends SubsystemBase {
SmartDashboard.putNumber("endefector", endefectorLimitSwitch.get() ? 1 : 0);
if (currentState == CoordinationState.Waiting) {
periodicWaiting();
// periodicWaiting();
} else if (currentState == CoordinationState.WatingBeamTriped) {
periodicWaitingTripped();
// periodicWaitingTripped();
} else if (currentState == CoordinationState.Ready) {
periodicReady();
// periodicReady();
}
// } else if (currentState == CoordinationState.ScoringThree || currentState == CoordinationState.ScoringFour) {
// periodicScoring();