Have Climber

2026-03-15 08:42:33 +08:00
parent be6342b597
commit 6196da8a23
44 changed files with 1644 additions and 439 deletions
@@ -83,26 +83,13 @@ public class IntakerSubsystem extends SubsystemBase{
        stopIntakerotater();
    }
    public void IntakerDownNonStop(){
-        double currentPosition = getIntakerotaterPosition();
-        if (currentPosition > Constants.Intaker.intakeRotaterDownLimit) {
-            // move down (negative power) while above the lower limit
-            intakerotater.set(-0.05);
-        } else {
-            // at or below lower limit: stop
-            stopIntakerotater();
+            intakerotater.set(-0.1);
        }
-    }

    public void IntakerUpNonStop(){
-        double currentPosition = getIntakerotaterPosition();
-        if (currentPosition < Constants.Intaker.intakeRotaterUpLimit) {
-            // move up while below the upper limit
-            intakerotater.set(0.3);
-        } else {
-            // at or above upper limit: stop
-            stopIntakerotater();
-            }
+            intakerotater.set(0.2);
        }
+
    public void setIntakerRotater(double rotaterspeed){
        intakerotater.set(rotaterspeed);
    }