From 1f56dbb95f51b992743173e579a496987be25667 Mon Sep 17 00:00:00 2001 From: Sean Maizel Date: Mon, 18 Mar 2024 16:17:19 -0400 Subject: [PATCH] removed some testing changes that shouldn't have stayed in --- src/main/java/frc/robot/RobotContainer.java | 1 - src/main/java/frc/robot/subsystems/Arm.java | 4 ++-- 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 7a7438c..4a9ca69 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -196,7 +196,6 @@ private void configureBindings() { // left bumper -> rotate to note // driverController.leftBumper().whileTrue(new GamePieceVision(vision, swerve)); driverController.a().onTrue(teleopSwerve.toggleFieldRelative()); - driverController.b().onTrue(new SetShooterVelocity(shooter, 2250)); driverController.x().whileTrue(new XStance(swerve)); driverController.y().onTrue(teleopSwerve.zeroYaw()); diff --git a/src/main/java/frc/robot/subsystems/Arm.java b/src/main/java/frc/robot/subsystems/Arm.java index 4fe0052..4a658da 100644 --- a/src/main/java/frc/robot/subsystems/Arm.java +++ b/src/main/java/frc/robot/subsystems/Arm.java @@ -53,8 +53,8 @@ public Arm() { leadMotor.setSoftLimit(SoftLimitDirection.kForward, (float) (110 + shaftEncoderOffset_deg)); leadMotor.setSoftLimit(SoftLimitDirection.kReverse, (float) (-1.5 + shaftEncoderOffset_deg)); - leadMotor.enableSoftLimit(SoftLimitDirection.kForward, false); - leadMotor.enableSoftLimit(SoftLimitDirection.kReverse, false); + leadMotor.enableSoftLimit(SoftLimitDirection.kForward, true); + leadMotor.enableSoftLimit(SoftLimitDirection.kReverse, true); followerMotor.restoreFactoryDefaults(); followerMotor.setIdleMode(IdleMode.kBrake);