Team_2648/2025_Robot_Code
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manipulator retract in controls

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This commit is contained in:
Tylr-J42 2025-02-28 10:32:00 -05:00
parent 92206fa252
commit e0d0a121ba
2 changed files with 3 additions and 3 deletions
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2
src/main/java/frc/robot/RobotContainer.java
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@ -143,7 +143,7 @@ public class RobotContainer {
); );
driver.leftTrigger().whileTrue( driver.leftTrigger().whileTrue(
manipulator.runUntilCollected(() -> 0.75) manipulator.runUntilCollected(() -> 0.75).andThen(manipulator.retractCommand(() -> 0.25))
); );
driver.start().and(driver.back()).onTrue( driver.start().and(driver.back()).onTrue(

4
src/main/java/frc/robot/subsystems/Manipulator.java
View File

@ -74,9 +74,9 @@ public class Manipulator extends SubsystemBase {
}).until(() -> !coralBeamBreak.get()); }).until(() -> !coralBeamBreak.get());
} }
public Command retractCommand(DoubleSupplier speed){ public Command retractCommand(DoubleSupplier retractSpeed){
return run(() -> { return run(() -> {
manipulatorMotor.set(-speed.getAsDouble()); manipulatorMotor.set(-retractSpeed.getAsDouble());
} }
).until(() -> coralBeamBreak.get()); ).until(() -> coralBeamBreak.get());
} }