Team_2648/2025_Robot_Code
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Minor change to add manual, again, just a proof of concept, don't use this

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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
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5
src/main/java/frc/robot/RobotContainer.java
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@ -29,6 +29,7 @@ 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.WaitUntilCommand; import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.button.Trigger;
public class RobotContainer { public class RobotContainer {
private ClimberPivot climberPivot; private ClimberPivot climberPivot;
@ -186,6 +187,10 @@ public class RobotContainer {
elevator.setTargetPosition(ElevatorPositions.kL2) elevator.setTargetPosition(ElevatorPositions.kL2)
); );
new Trigger(() -> Math.abs(MathUtil.applyDeadband(operator.getLeftY(), .05)) > .05).onTrue(
elevator.runManualElevator(operator::getLeftY)
);
} }

5
src/main/java/frc/robot/subsystems/Elevator.java
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@ -151,7 +151,10 @@ public class Elevator extends SubsystemBase {
* @return Sets motor voltage to translate the elevator and maintain position * @return Sets motor voltage to translate the elevator and maintain position
*/ */
public Command runManualElevator(DoubleSupplier speed) { public Command runManualElevator(DoubleSupplier speed) {
return run(() -> { return startRun(() -> {
mode = ElevatorControlMode.kManualMaintain;
},
() -> {
double desired = speed.getAsDouble(); double desired = speed.getAsDouble();
if(Math.abs(MathUtil.applyDeadband(desired, .05)) > 0) { if(Math.abs(MathUtil.applyDeadband(desired, .05)) > 0) {