Commit before going to WPI. Put Climber and ARM together untested

team4909 · Feb 20, 2024 · f9fd18d · f9fd18d
1 parent 5826f23
commit f9fd18d
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Showing 3 changed files with 3 additions and 7 deletions.
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -135,11 +135,7 @@ public Robot() {
 
     m_operatorController
         .leftTrigger()
-        .whileTrue(
-            Commands.parallel(
-                m_intake.feed(),
-                m_arm.goToSetpoint(1.232, -2.753, 0.0, 0.0),
-                m_shooter.ShooterOn()))
+        .whileTrue(Commands.parallel(m_intake.feed(), m_arm.goToSetpoint(1.232, -2.753, 0.0, 0.0)))
         .onFalse(
             Commands.sequence(m_arm.goToSetpoint(ArmSetpoints.kStowed), m_shooter.ShooterOff()));
 

diff --git a/src/main/java/frc/robot/Subsystems.java b/src/main/java/frc/robot/Subsystems.java
@@ -85,4 +85,4 @@ public static Climber createSparkMAXClimber() {
   public static Climber createBlankClimber() {
     return new Climber(new ClimberIO() {});
   }
-}
+}
diff --git a/src/main/java/frc/robot/arm/Arm.java b/src/main/java/frc/robot/arm/Arm.java
@@ -61,7 +61,7 @@ public class Arm extends SubsystemBase {
         elbowkS.initDefault(0.55);
         elbowCruiseVelocityRadPerSec.initDefault(5.0);
         elbowMaxAccelerationRadPerSecSq.initDefault(8.0);
-        wristkP.initDefault(0.8);
+        wristkP.initDefault(1.3);
         wristkD.initDefault(0);
         wristkS.initDefault(0.3);
         wristCruiseVelocityRadPerSec.initDefault(4.0);
-Original file line number
+Diff line change
@@ Expand Up / @@ -85,4 +85,4 @@ public static Climber createSparkMAXClimber() { @@
       public static Climber createBlankClimber() {
         return new Climber(new ClimberIO() {});
       }
-    }
+    }