various bug fixes

awtybots · Feb 19, 2024 · abd7da9 · abd7da9
1 parent d04a6a5
commit abd7da9
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Showing 4 changed files with 7 additions and 11 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -57,6 +57,8 @@
 import org.littletonrobotics.junction.networktables.LoggedDashboardChooser;
 import org.littletonrobotics.junction.networktables.LoggedDashboardNumber;
 
+// import wristcommands
+
 /**
  * This class is where the bulk of the robot should be declared. Since Command-based is a
  * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
@@ -221,11 +223,11 @@ private void configureButtonBindings() {
     operatorController
         .a()
         .whileTrue(
-            Commands.startEnd(() -> sClimber.runTargetPosition(0.5), sClimber::stop, sClimber));
+            Commands.startEnd(() -> sClimber.runTargetPosition(0), sClimber::stop, sClimber));
     operatorController
-        .a()
-        .whileFalse(
-            Commands.startEnd(() -> sClimber.runTargetPosition(0.7), sClimber::stop, sClimber));
+        .b()
+        .whileTrue(
+            Commands.startEnd(() -> sClimber.runTargetPosition(0.55), sClimber::stop, sClimber));
   }
 
   /**

diff --git a/src/main/java/frc/robot/subsystems/armElevator/ArmElevatorIO.java b/src/main/java/frc/robot/subsystems/armElevator/ArmElevatorIO.java
@@ -40,6 +40,4 @@ public default void stop() {}
   public default void configurePID(double kP, double kI, double kD) {}
 
   public default void setTargetDistance(double distance) {}
-
-
 }
diff --git a/src/main/java/frc/robot/subsystems/armElevator/ArmElevatorIOSparkMax.java b/src/main/java/frc/robot/subsystems/armElevator/ArmElevatorIOSparkMax.java
@@ -60,7 +60,6 @@ public void updateInputs(ArmElevatorIOInputs inputs) {
     inputs.targetDistance = targetDistance;
     inputs.currentAmps = new double[] {motor.getOutputCurrent()};
 
-    System.out.println(encoder.getPosition() / GEAR_RATIO * PULLEY_CIRCUMFERENCE);
   }
 
   @Override
@@ -92,7 +91,7 @@ public void configurePID(double kP, double kI, double kD) {
   }
 
   @Override
-  public void setTargetDistance(double distanceInches) {
+  public void setTargetDistance(double distanceMeters) {
     targetDistance = distanceMeters;
     pid.setReference(
         distanceMeters / PULLEY_CIRCUMFERENCE * GEAR_RATIO,

diff --git a/src/main/java/frc/robot/subsystems/climber/ClimberIOSparkMax.java b/src/main/java/frc/robot/subsystems/climber/ClimberIOSparkMax.java
@@ -48,9 +48,6 @@ public ClimberIOSparkMax() {
     leftMotor.setCANTimeout(250);
     rightMotor.setCANTimeout(250);
 
-    leftRelativeEncoder.setPosition(ClimberConstants.initialPosition);
-    rightRelativeEncoder.setPosition(ClimberConstants.initialPosition);
-
     leftMotor.setInverted(true);
 
     leftMotor.enableVoltageCompensation(12.0);