Minor change to add manual, again, just a proof of concept, don't use this

This commit is contained in:
Bradley Bickford 2025-02-21 20:51:46 -05:00
parent 771bcc89e1
commit 431c1c2f01
2 changed files with 9 additions and 1 deletions

View File

@ -29,6 +29,7 @@ import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.button.Trigger;
public class RobotContainer {
private ClimberPivot climberPivot;
@ -185,6 +186,10 @@ public class RobotContainer {
operator.y().onTrue(
elevator.setTargetPosition(ElevatorPositions.kL2)
);
new Trigger(() -> Math.abs(MathUtil.applyDeadband(operator.getLeftY(), .05)) > .05).onTrue(
elevator.runManualElevator(operator::getLeftY)
);
}

View File

@ -151,7 +151,10 @@ public class Elevator extends SubsystemBase {
* @return Sets motor voltage to translate the elevator and maintain position
*/
public Command runManualElevator(DoubleSupplier speed) {
return run(() -> {
return startRun(() -> {
mode = ElevatorControlMode.kManualMaintain;
},
() -> {
double desired = speed.getAsDouble();
if(Math.abs(MathUtil.applyDeadband(desired, .05)) > 0) {