Remove wrist default command

Co-Authored-By: Kyle Huang <72529534+brokenfloppydisk@users.noreply.github.com>
nerdherd · Oct 8, 2023 · e68092f · e68092f
1 parent 02b3044
commit e68092f
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Showing 2 changed files with 4 additions and 3 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -155,7 +155,8 @@ public void initDefaultCommands() {
         }
       ));
 
-      wrist.setDefaultCommand(Commands.run(() -> wrist.moveWristMotionMagicJoystick(-operatorController.getLeftY()), wrist));
+      // Removed to allow percent output joystick control
+      // wrist.setDefaultCommand(Commands.run(() -> wrist.moveWristMotionMagicJoystick(-operatorController.getLeftY()), wrist));
   }
 
   private void configureBindings() {

diff --git a/src/main/java/frc/robot/subsystems/Wrist.java b/src/main/java/frc/robot/subsystems/Wrist.java
@@ -83,7 +83,7 @@ public void init() {
 
     }
 
-    // Use during a match to re-enable motion magic and turn on joystick input
+    // Use during a match to re-enable motion magic and turn off joystick input
     public void resetToStowPosition() {
         toggleMotionMagic(true);
         zeroEncodersStow();
@@ -118,7 +118,7 @@ public void moveWristMotionMagicJoystick(double joystickInput) {
             int tickChange = (int) (WristConstants.kJoystickScale * joystickInput);
             int currentTicks = (int) wrist.getSelectedSensorPosition();
 
-            tickChange = (int) joystickFilter.calculate(tickChange);
+            // tickChange = (int) joystickFilter.calculate(tickChange);
 
             targetTicks = currentTicks + tickChange;
             targetTicks = (int) NerdyMath.clamp(targetTicks, WristConstants.kWristLowerLimit, WristConstants.kWristUpperLimit);