admin6494/FRC6494_2026Regional-offseason
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OnDYCLaptop
2026-03-07 00:09:57 +08:00
parent c032236287
commit 74bf1b992d
4 changed files with 5 additions and 6 deletions
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src/main/java/frc/robot/controls/ClimberControls.java
+2 -2
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@@ -24,9 +24,9 @@ public class ClimberControls {
return Commands.run(()->{ return Commands.run(()->{
//climber.climbUp(); //climber.climbUp();
if(controller.getRightY() < -0.5){ if(controller.getRightY() < -0.5){
climber.climbDownNonStop();
} else if(controller.getRightY() > 0.5){
climber.climbUpNonStop(); climber.climbUpNonStop();
} else if(controller.getRightY() > 0.5){
climber.climbDownNonStop();
} else if (controller.y().getAsBoolean()) { } else if (controller.y().getAsBoolean()) {
climber.climbUp(); climber.climbUp();
} else if (controller.x().getAsBoolean()) { } else if (controller.x().getAsBoolean()) {
src/main/java/frc/robot/controls/DriveControls.java
-1
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@@ -12,7 +12,6 @@ import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import frc.robot.Constants; import frc.robot.Constants;
import frc.robot.RobotStatusManager; import frc.robot.RobotStatusManager;
src/main/java/frc/robot/controls/IntakerControls.java
+2 -2
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@@ -76,9 +76,9 @@ public class IntakerControls {
IntakerSubsystem.setIntakerGetterSpeed(getterspeed); IntakerSubsystem.setIntakerGetterSpeed(getterspeed);
if(controller.getLeftY() < -0.5){ if(controller.getLeftY() < -0.5){
IntakerSubsystem.IntakerDownNonStop();
} else if(controller.getLeftY() > 0.5){
IntakerSubsystem.IntakerUpNonStop(); IntakerSubsystem.IntakerUpNonStop();
} else if(controller.getLeftY() > 0.5){
IntakerSubsystem.IntakerDownNonStop();
} else { } else {
IntakerSubsystem.stopIntakerotater(); IntakerSubsystem.stopIntakerotater();
} }
src/main/java/frc/robot/subsystems/IntakerSubsystem.java
+1 -1
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@@ -97,7 +97,7 @@ public class IntakerSubsystem extends SubsystemBase{
public void IntakerUpNonStop(){ public void IntakerUpNonStop(){
double currentPosition = getIntakerotaterPosition(); double currentPosition = getIntakerotaterPosition();
if (currentPosition < Constants.Intaker.intakeRotaterUpLimit) { if (currentPosition < Constants.Intaker.intakeRotaterUpLimit) {
intakerotater.set(0.1);} intakerotater.set(0.2);}
// if (currentPosition < Constants.Intaker.intakeRotaterUpLimit) { // if (currentPosition < Constants.Intaker.intakeRotaterUpLimit) {
// intakerotater.setControl(velocityRequest.withVelocity(-Constants.Intaker.intakeRotaterVelocity)); // intakerotater.setControl(velocityRequest.withVelocity(-Constants.Intaker.intakeRotaterVelocity));