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Merge pull request #155 from 4201VitruvianBots/dev-climberFixes
Fixed Climber Code
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110 changes: 52 additions & 58 deletions
110
src/main/java/frc/robot/commands/climber/ToggleClimbMode.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,58 +1,52 @@ | ||
| // Copyright (c) FIRST and other WPILib contributors. | ||
| // Open Source Software; you can modify and/or share it under the terms of | ||
| // the WPILib BSD license file in the root directory of this project. | ||
|
|
||
| package frc.robot.commands.climber; | ||
|
|
||
| import edu.wpi.first.wpilibj2.command.InstantCommand; | ||
| import frc.robot.constants.ROBOT; | ||
| import frc.robot.constants.ROBOT.CONTROL_MODE; | ||
| import frc.robot.subsystems.Arm; | ||
| import frc.robot.subsystems.Climber; | ||
|
|
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| public class ToggleClimbMode extends InstantCommand { | ||
| private final Climber m_climber; | ||
| private final Arm m_arm; | ||
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| /** Creates a new ToggleClimberControlMode. */ | ||
| public ToggleClimbMode(Climber climber, Arm arm) { | ||
| m_climber = climber; | ||
| m_arm = arm; | ||
|
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| // Use addRequirements() here to declare subsystem dependencies. | ||
| addRequirements(m_climber, m_arm); | ||
| } | ||
|
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| // Called when the command is initially scheduled. | ||
| @Override | ||
| public void initialize() { | ||
| // m_climber.setClimbState(!m_climber.getClimbState()); | ||
| // m_arm.setControlMode(CONTROL_MODE.OPEN_LOOP); | ||
| ROBOT.CONTROL_MODE climberControlMode = m_climber.getClosedLoopControlMode(); | ||
|
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| switch (climberControlMode) { | ||
| case OPEN_LOOP: | ||
| m_climber.setClosedLoopControlMode(CONTROL_MODE.CLOSED_LOOP); | ||
| m_climber.resetMotionMagicState(); | ||
| m_climber.holdClimber(); | ||
| break; | ||
| default: | ||
| case CLOSED_LOOP: | ||
| m_climber.setClosedLoopControlMode(CONTROL_MODE.OPEN_LOOP); | ||
| break; | ||
| } | ||
| } | ||
|
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||
| @Override | ||
| public void execute() {} | ||
|
|
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| // Called once the command ends or is interrupted. | ||
| @Override | ||
| public void end(boolean interrupted) {} | ||
|
|
||
| // Returns true when the command should end. | ||
| @Override | ||
| public boolean isFinished() { | ||
| return true; | ||
| } | ||
| } | ||
| // Copyright (c) FIRST and other WPILib contributors. | ||
| // Open Source Software; you can modify and/or share it under the terms of | ||
| // the WPILib BSD license file in the root directory of this project. | ||
|
|
||
| package frc.robot.commands.climber; | ||
|
|
||
| import edu.wpi.first.wpilibj2.command.InstantCommand; | ||
| import frc.robot.constants.ROBOT.CONTROL_MODE; | ||
| import frc.robot.subsystems.Arm; | ||
| import frc.robot.subsystems.Climber; | ||
|
|
||
| public class ToggleClimbMode extends InstantCommand { | ||
| private final Climber m_climber; | ||
| private final Arm m_arm; | ||
|
|
||
| /** Creates a new ToggleClimberControlMode. */ | ||
| public ToggleClimbMode(Climber climber, Arm arm) { | ||
| m_climber = climber; | ||
| m_arm = arm; | ||
|
|
||
| // Use addRequirements() here to declare subsystem dependencies. | ||
| addRequirements(m_climber, m_arm); | ||
| } | ||
|
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| // Called when the command is initially scheduled. | ||
| @Override | ||
| public void initialize() { | ||
| // m_climber.setClimbState(!m_climber.getClimbState()); | ||
| // m_arm.setControlMode(CONTROL_MODE.OPEN_LOOP); | ||
| var climbMode = m_climber.getClimbState(); | ||
|
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| if (!climbMode) { | ||
| m_climber.setClimbState(true); | ||
| // m_climber.setClosedLoopControlMode(CONTROL_MODE.CLOSED_LOOP); | ||
| // m_climber.resetMotionMagicState(); | ||
| // m_climber.holdClimber(); | ||
| m_arm.setControlMode(CONTROL_MODE.CLOSED_LOOP); | ||
| m_arm.resetMotionMagicState(); | ||
| } else { | ||
| m_climber.setClimbState(false); | ||
| // m_climber.setClosedLoopControlMode(CONTROL_MODE.OPEN_LOOP); | ||
| m_arm.setControlMode(CONTROL_MODE.OPEN_LOOP); | ||
| } | ||
| } | ||
|
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||
| @Override | ||
| public void execute() {} | ||
|
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| // Called once the command ends or is interrupted. | ||
| @Override | ||
| public void end(boolean interrupted) {} | ||
| } |
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