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Fixes of intake and beams (untested)

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This commit is contained in:
ryan123rudder
2020-03-02 18:04:08 -07:00
parent c7e50a3620
commit 923c04bf34
9 changed files with 95 additions and 44 deletions
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src/main/java/frc4388/robot/subsystems/Intake.java
+15 -4
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@@ -14,6 +14,7 @@ import com.revrobotics.CANSparkMax.IdleMode;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.IntakeConstants;
@@ -38,10 +39,10 @@ public class Intake extends SubsystemBase {
m_intakeMotor.setIdleMode(IdleMode.kCoast);
m_extenderMotor.setIdleMode(IdleMode.kBrake);
m_intakeMotor.setInverted(false);
m_extenderMotor.setInverted(false);
m_extenderMotor.setInverted(true);
m_extenderForwardLimit = m_extenderMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
m_extenderReverseLimit = m_extenderMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
m_extenderForwardLimit = m_extenderMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
m_extenderReverseLimit = m_extenderMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
m_extenderForwardLimit.enableLimitSwitch(true);
m_extenderReverseLimit.enableLimitSwitch(true);
}
@@ -58,7 +59,14 @@ public class Intake extends SubsystemBase {
public void runIntake(double input) {
m_intakeMotor.set(input);
}
public void runIntakeIn(double input){
m_extenderMotor.set(-input);
}
public void runIntakeOut(double input){
m_extenderMotor.set(input);
}
/**
* Runs extender motor
* @param input the percent output to run motor at
@@ -67,9 +75,12 @@ public class Intake extends SubsystemBase {
if (m_extenderForwardLimit.get()) {
isExtended = true;
}
if (m_extenderReverseLimit.get()) {
else if (m_extenderReverseLimit.get()) {
isExtended = false;
}
else{
m_extenderMotor.set(-input);
}
if (isExtended == false) {
m_extenderMotor.set(input);