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Improve Climber Code

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This commit is contained in:
Keenan D. Buckley
2020-03-06 16:42:53 -07:00
parent d480494910
commit 8113ce1a08
6 changed files with 88 additions and 6 deletions
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src/main/java/frc4388/robot/subsystems/Climber.java
+20 -1
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@@ -13,6 +13,8 @@ import com.revrobotics.CANDigitalInput.LimitSwitchPolarity;
import com.revrobotics.CANSparkMax.IdleMode;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj.Servo;
import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.ClimberConstants;
@@ -20,16 +22,21 @@ public class Climber extends SubsystemBase {
CANSparkMax m_climberMotor = new CANSparkMax(ClimberConstants.CLIMBER_SPARK_ID, MotorType.kBrushless);
CANDigitalInput m_climberForwardLimit, m_climberReverseLimit;
Servo m_servo;
//Spark m_spark = new Spark(4);
public boolean climberSafety = false;
/**
* Creates a new Climber.
*/
public Climber() {
m_servo = new Servo(4);
m_climberMotor.restoreFactoryDefaults();
m_climberMotor.setIdleMode(IdleMode.kBrake);
m_climberMotor.setInverted(false);
m_climberMotor.setInverted(true);
m_climberForwardLimit = m_climberMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
m_climberReverseLimit = m_climberMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
@@ -48,6 +55,7 @@ public class Climber extends SubsystemBase {
*/
public void runClimber(double input) {
if(climberSafety){
input *= 1.0;
m_climberMotor.set(input);
}
else{
@@ -66,4 +74,15 @@ public class Climber extends SubsystemBase {
{
climberSafety = false;
}
/**
* @param shift true to enage rachet, false to disengage
*/
public void shiftServo(boolean shift) {
if (shift) {
m_servo.setPosition(0.5);
} else {
m_servo.setPosition(0.56);
}
}
}