From abd7da9465cf34e1aef0f67ea604cd454783f796 Mon Sep 17 00:00:00 2001
From: 24cirinom <112493487+24cirinom@users.noreply.github.com>
Date: Mon, 19 Feb 2024 17:15:29 -0600
Subject: [PATCH] various bug fixes

---
 src/main/java/frc/robot/RobotContainer.java            | 10 ++++++----
 .../robot/subsystems/armElevator/ArmElevatorIO.java    |  2 --
 .../subsystems/armElevator/ArmElevatorIOSparkMax.java  |  3 +--
 .../robot/subsystems/climber/ClimberIOSparkMax.java    |  3 ---
 4 files changed, 7 insertions(+), 11 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 0865b00..50feec0 100644
--- 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
index 626cdde..ea11a31 100644
--- 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
index 6d62816..7145d83 100644
--- 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
index 7102229..485ad5a 100644
--- 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);