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change to manipulator controls for manual climbing #96

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Merged
brettle merged 2 commits into from
Mar 16, 2019
Merged

change to manipulator controls for manual climbing #96

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f1a9c3c
change to manipulator controls for climbing
kevinzwang Mar 15, 2019
6c10310
im bad -kev
alexander-mcdowell Mar 15, 2019
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2 changes: 1 addition & 1 deletion Robot2019/src/main/java/frc/robot/OI.java
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Original file line number Diff line number Diff line change
Expand Up @@ -83,7 +83,7 @@ public class OI {
autoClimbBtn.toggleWhenPressed(new Climb(climber, dt, leftJoy));

manualClimbBtn = new JoystickButton(manipulator, Manip.LT_lTrigger);
manualClimbBtn.toggleWhenPressed(new ManualClimb(climber, dt, leftJoy, rightJoy));
manualClimbBtn.toggleWhenPressed(new ManualClimb(climber, manipulator));

toggleCameraBtn = new JoystickButton(leftJoy, 2);
toggleCameraBtn.whenPressed(new ToggleCamera(driveCamera, hatchCamera, cameraServer));
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28 changes: 11 additions & 17 deletions Robot2019/src/main/java/frc/robot/commands/ManualClimb.java
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Original file line number Diff line number Diff line change
Expand Up @@ -11,26 +11,23 @@
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import frc.robot.subsystems.Climber;
import frc.robot.subsystems.Drivetrain;

public class ManualClimb extends Command {
private Climber climber;
private Drivetrain dt;
private Joystick leftJoy, rightJoy;
private Joystick manip;

final private double retractDist = 0;
final private double climbDist = 24.46; // In inches

public ManualClimb(Climber climber, Drivetrain dt, Joystick leftJoy, Joystick rightJoy) {
final private int climbJoyAxis = 1;

public ManualClimb(Climber climber, Joystick manip) {
// Use requires() here to declare subsystem dependencies
// eg. requires(chassis);
requires(climber);
requires(dt);

this.climber = climber;
this.dt = dt;
this.leftJoy = leftJoy;
this.rightJoy = rightJoy;
this.manip = manip;
}

// Called just before this Command runs the first time
Expand All @@ -44,16 +41,14 @@ protected void initialize() {
// Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
double climbSpeed = -leftJoy.getY();
double driveSpeed = -rightJoy.getY();
double climbSpeed = manip.getRawAxis(climbJoyAxis);

if (climbSpeed > 0 && climber.getEncDistance() >= climbDist) {
climbSpeed = 0;
} else if (climbSpeed < 0 && climber.getEncDistance() <= retractDist) {
climbSpeed = 0;
}
// if (climbSpeed > 0 && climber.getEncDistance() >= climbDist) {
// climbSpeed = 0;
// } else if (climbSpeed < 0 && climber.getEncDistance() <= retractDist) {
// climbSpeed = 0;
// }
climber.runClimber(climbSpeed);
dt.drive(driveSpeed, driveSpeed);

double angle = climber.getAngle();
SmartDashboard.putNumber("Current Angle", angle);
Expand All @@ -75,7 +70,6 @@ protected boolean isFinished() {
@Override
protected void end() {
climber.stopClimber();
dt.stop();
}

// Called when another command which requires one or more of the same
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