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Tested elevator

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This commit is contained in:
C4llSiqn
2025-01-20 14:35:34 -07:00
parent 453e0e54af
commit d341b6a7d7
3 changed files with 28 additions and 30 deletions
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src/main/java/frc4388/robot/subsystems/Endeffector.java
+5 -10
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@@ -9,6 +9,7 @@ import com.ctre.phoenix6.hardware.TalonFX;
import com.ctre.phoenix6.signals.NeutralModeValue;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.ElevatorConstants;
import frc4388.robot.Constants.EndeffectorConstants;
public class Endeffector extends SubsystemBase {
@@ -18,6 +19,8 @@ public class Endeffector extends SubsystemBase {
endeffectorMotor = endffectorTalonFX;
endeffectorMotor.setNeutralMode(NeutralModeValue.Brake);
endeffectorMotor.getConfigurator().apply(EndeffectorConstants.ENDEFECTOR_PID);
}
public void PIDPosition(double position) {
@@ -37,16 +40,8 @@ public class Endeffector extends SubsystemBase {
PIDPosition(EndeffectorConstants.BOTTOM);
}
public void endeffectorTop() {
endeffectorMotor.set(EndeffectorConstants.TOP);
}
public void endeffectorMiddle() {
endeffectorMotor.set(EndeffectorConstants.MIDDLE);
}
public void endeffectorBottom() {
endeffectorMotor.set(EndeffectorConstants.BOTTOM);
public void endEffectorStop() {
endeffectorMotor.set(0);
}
@Override