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Added Elevator Subystem

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Added method to make it move
This commit is contained in:
aarav18
2020-01-18 10:30:22 -08:00
parent 2eb0bf806a
commit ca31832c61
2 changed files with 27 additions and 3 deletions
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src/main/java/frc4388/robot/subsystems/Elevator.java
+21 -3
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@@ -7,24 +7,42 @@
package frc4388.robot.subsystems;
import com.ctre.phoenix.motorcontrol.InvertType;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.ElevatorConstants;
public class Elevator extends SubsystemBase {
public WPI_TalonSRX m_talon1;
public WPI_TalonSRX m_talon2;
public WPI_TalonSRX m_talon1 = new WPI_TalonSRX(ElevatorConstants.TALON_1);
public WPI_TalonSRX m_talon2 = new WPI_TalonSRX(ElevatorConstants.TALON_2);
/**
* Creates a new Elevator.
*/
public Elevator() {
m_talon1.configFactoryDefault();
m_talon2.configFactoryDefault();
m_talon2.follow(m_talon1);
m_talon1.setNeutralMode(NeutralMode.Brake);
m_talon2.setNeutralMode(NeutralMode.Brake);
m_talon1.setInverted(false);
m_talon2.setInverted(false);
m_talon1.setInverted(InvertType.FollowMaster);
m_talon2.setInverted(InvertType.FollowMaster);
}
@Override
public void periodic() {
// This method will be called once per scheduler run
}
public void moveElevator(double speed) {
m_talon1.set(speed);
m_talon2.set(speed);
}
}