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Safety added for climber and leveler

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mayabartels
2020-02-15 13:29:06 -08:00
parent 0469897501
commit e2efd0f8d3
3 changed files with 35 additions and 2 deletions
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src/main/java/frc4388/robot/subsystems/Leveler.java
+9 -1
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@@ -17,10 +17,13 @@ import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj.Talon;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.LevelerConstants;
import frc4388.robot.subsystems.*;
public class Leveler extends SubsystemBase {
CANSparkMax m_levelerMotor = new CANSparkMax(LevelerConstants.LEVELER_CAN_ID, MotorType.kBrushless);
private final Climber m_robotClimber = new Climber();
/**
* Creates a new Leveler.
*/
@@ -41,6 +44,11 @@ public class Leveler extends SubsystemBase {
* @param input the percent output to run motor at
*/
public void runLeveler(double input) {
m_levelerMotor.set(input);
if(m_robotClimber.climberSafety){
m_levelerMotor.set(input);
}
else{
m_levelerMotor.set(0);
}
}
}