Initial Ports and Controls #58
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Make the robot drive work and code run
docprofsky
requested changes
Mar 7, 2020
src/main/java/frc/robot/Climb.java
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| @@ -22,7 +22,11 @@ public Climb(SpeedController winchMotor, SpeedController armMotor, int armLockPi | |||
| } | |||
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| public void runWinch(double power) { | |||
| winchMotor.set(power); | |||
| if (!armLockPiston.get()) { | |||
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Make a method boolean getWinchLocked() and use that here.
…ics/2020-FRC-robot into better-controls
docprofsky
requested changes
Mar 17, 2020
| @@ -76,7 +76,7 @@ public void update() { | |||
| * @param power positive is counter clockwise | |||
| */ | |||
| public void moveRotator(double power) { | |||
| rotatorMotor.set(power); | |||
| rotatorMotor.set(0.1 * power); | |||
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For best limiting of the power, we should put limit the input values to [-1, 1]. Otherwise, an enterprising individual could moveRotator(10);.
src/main/java/frc/robot/Robot.java
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| // ballChucker9000.moveRotator(ballChucker9000.getRotatorEncoder() >= 270 ? 0 : 0.5); | ||
| ballChucker9000.moveRotator(0.5); | ||
| } else if (manipulator.getButton(Button.LEFT_BUMPER)) { | ||
| ballChucker9000.moveRotator(ballChucker9000.getRotatorEncoder() <= 0 ? 0 : -0.1); | ||
| // ballChucker9000.moveRotator(ballChucker9000.getRotatorEncoder() <= 0 ? 0 : -0.5); | ||
| ballChucker9000.moveRotator(-0.5); |
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I do not love commented code. It can stay iff there is a good reason to keep it as a comment and a comment for why we are keeping the code is added.
| } else { | ||
| climb.runWinch(0); | ||
| climb.runWinch(-0.5 * manipulator.getAxis(Axis.LEFT_TRIGGER)); |
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Why do we need to run the winch in reverse?
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In case there's not enough slack. Mostly for testing
src/main/java/frc/robot/Robot.java
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| ButtonToggleRunner testWinchLockToggleRunner; | ||
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| @Override | ||
| public void testInit() { | ||
| testWinchLockToggleRunner = new ButtonToggleRunner(() -> rightJoystick.getTrigger(), climb::toggleLock); | ||
| } |
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Not to be merged until tested.