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changed CoralJoint.java cus #26

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merged 3 commits into from
Feb 22, 2025
Merged

changed CoralJoint.java cus #26

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58b2d1e
changed CoralJoint.java cus
adiY666 Feb 22, 2025
11aca43
made the spark talon
adiY666 Feb 22, 2025
701be6a
Merge branch 'dev' into adi-storage-joint
adiY666 Feb 22, 2025
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6 changes: 3 additions & 3 deletions src/main/java/frc/robot/subsystems/CoralJoint.java
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Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,7 @@ public class CoralJoint extends SmartMotorControllerGenericSubsystem {

public enum STORAGE_POSE {

INTAKE(-1), PLACEMENT(-1), RESTING(-1);
INTAKE(-1), L1(-1), L2(-1), L3(-1), RESTING(-1);

public final double neededPitch;

Expand Down Expand Up @@ -58,9 +58,9 @@ public boolean canMove(double speed) {

public void calibrateEncoderPosition() {
if (topLimit.get()) {
spark.setPosition(STORAGE_POSE.RESTING.neededPitch);
spark.setPosition(STORAGE_POSE.L3.neededPitch);
} else if (bottomLimit.get()) {
spark.setPosition(STORAGE_POSE.PLACEMENT.neededPitch);
spark.setPosition(STORAGE_POSE.RESTING.neededPitch);
}
}

Expand Down