From e0d0a121ba81ca21469f7623578808f670e0373d Mon Sep 17 00:00:00 2001 From: Tylr-J42 Date: Fri, 28 Feb 2025 10:32:00 -0500 Subject: [PATCH] manipulator retract in controls --- src/main/java/frc/robot/RobotContainer.java | 2 +- src/main/java/frc/robot/subsystems/Manipulator.java | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 103ad2d..19e02bc 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -143,7 +143,7 @@ public class RobotContainer { ); driver.leftTrigger().whileTrue( - manipulator.runUntilCollected(() -> 0.75) + manipulator.runUntilCollected(() -> 0.75).andThen(manipulator.retractCommand(() -> 0.25)) ); driver.start().and(driver.back()).onTrue( diff --git a/src/main/java/frc/robot/subsystems/Manipulator.java b/src/main/java/frc/robot/subsystems/Manipulator.java index 4964937..9f59550 100644 --- a/src/main/java/frc/robot/subsystems/Manipulator.java +++ b/src/main/java/frc/robot/subsystems/Manipulator.java @@ -74,9 +74,9 @@ public class Manipulator extends SubsystemBase { }).until(() -> !coralBeamBreak.get()); } - public Command retractCommand(DoubleSupplier speed){ + public Command retractCommand(DoubleSupplier retractSpeed){ return run(() -> { - manipulatorMotor.set(-speed.getAsDouble()); + manipulatorMotor.set(-retractSpeed.getAsDouble()); } ).until(() -> coralBeamBreak.get()); }