Team4388/RiseOfRidgebotics2020
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Add up and down for storage thingy

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Rishabh
2020-02-13 19:07:36 -07:00
parent ee9bd4d301
commit 1463bd2094
2 changed files with 20 additions and 2 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+3
View File
@@ -138,6 +138,9 @@ public class RobotContainer {
/* Storage Neo PID Test */
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whileHeld(new RunCommand(() -> m_robotStorage.runStoragePositionPID(0.5)));
new JoystickButton(getOperatorJoystick(), XboxController.LEFT_TRIGGER_AXIS)
.whileHeld(new RunCommand(() -> m_robotStorage.storageIntake()));
}
/**
src/main/java/frc4388/robot/subsystems/Storage.java
+17 -2
View File
@@ -65,7 +65,7 @@ public class Storage extends SubsystemBase {
} else {
System.err.println("Beam off");
}
}
public void resetEncoder()
@@ -96,7 +96,21 @@ public class Storage extends SubsystemBase {
* Prepares storage for shooting
*/
public void storageAim() {
//runStoragePositionPID(targetPos, kP, kI, kD, kIz, kF, kmaxOutput, kminOutput);
if (m_beamSensors[0].get() == false){
m_storageMotor.set(0.5);
}
else{
m_storageMotor.set(0);
}
}
public void storageIntake() {
if (m_beamSensors[2].get() == false){
m_storageMotor.set(-0.5);
}
else{
m_storageMotor.set(0);
}
/*
*If shooting move storage motor until top sensor is tripped
@@ -104,3 +118,4 @@ public class Storage extends SubsystemBase {
*
*/
}
}