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Issue 78 #79

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Merged
mustangzr1 merged 5 commits into from
Mar 3, 2019
Merged

Issue 78 #79

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4f6a740
Set climb speeds to proven values
SaltyJoke Feb 26, 2019
5556c7c
Add timer to differentiate between climb levels
Mar 2, 2019
f22edc4
Merge branch 'dev' of https://github.com/DeepBlueRobotics/RobotCode20…
Mar 2, 2019
e62ffb8
Replace timer with encoder to finish climb
SaltyJoke Mar 3, 2019
de4135f
Fix syntax error, edit constant to more reasonable value.
dfang314 Mar 3, 2019
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9 changes: 5 additions & 4 deletions Robot2019/src/main/java/frc/robot/commands/Climb.java
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Original file line number Diff line number Diff line change
Expand Up @@ -19,11 +19,12 @@ public class Climb extends Command {
private State state;

private final double backDrive = -0.5; // TODO: Set this to reasonable/tested value;
private final double climbUp = 0.5; // TODO: Set this to reasonable/tested value;
private final double climbDown = -0.5; // TODO: Set this to reasonable/tested value;
private final double retract = -0.5; // TODO: Set this to reasonable/tested value;
private final double climbUp = 1;
private final double climbDown = -1;
private final double retract = -1;
private final double overrideThreshold = 0.1; // TODO: Set this to reasonable/tested value;
private final double retractGoal = 0; // TODO: Set this to reasonable/tested value;
private final double offGroundHeight = 10; // TODO: Set this to reasonable/tested value;

public Climb(Climber climber, Drivetrain dt, Joystick joy) {
// Use requires() here to declare subsystem dependencies
Expand Down Expand Up @@ -102,7 +103,7 @@ protected void interrupted() {
* overriding the climb
*/
private boolean robotOnPlatform() {
return dt.isStalled() || Math.abs(dtJoy.getY()) > overrideThreshold;
return (dt.isStalled() && climber.getEncDistance() > offGroundHeight) || Math.abs(dtJoy.getY()) > overrideThreshold;
}

private enum State {
Expand Down