Team_2648/2025_Robot_Code
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added a few things to the shuffle board

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This commit is contained in:
NoahLacks63 2025-02-19 22:22:47 +00:00
parent 1819f59657
commit 858c897aad
2 changed files with 18 additions and 0 deletions
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10
src/main/java/frc/robot/RobotContainer.java
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@ -257,6 +257,16 @@ public class RobotContainer {
sensorTab.addDouble("ElevMotor2", elevator::getMotor2)
.withWidget(BuiltInWidgets.kGraph);
sensorTab.addDouble("Elevator setpoint", elevator::getPIDSetpoint)
.withSize(1, 1)
.withPosition(5, 0)
.withWidget(BuiltInWidgets.kTextView);
sensorTab.addDouble("Elevator error", elevator::getPIDError)
.withSize(1, 1)
.withPosition(5, 1)
.withWidget(BuiltInWidgets.kTextView);
}
public Command getAutonomousCommand() {

8
src/main/java/frc/robot/subsystems/Elevator.java
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@ -228,4 +228,12 @@ public class Elevator extends SubsystemBase {
public double getMotor2() {
return elevatorMotor2.getAppliedOutput()*elevatorMotor2.getBusVoltage();
}
public double getPIDSetpoint() {
return pidController.getSetpoint();
}
public double getPIDError() {
return pidController.getError();
}
}