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Climb improvements #222
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Climb improvements #222
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katzuv
suggested changes
Mar 3, 2020
| @Override | ||
| public void execute() { | ||
| setpoint = -joystickInput.get() * Constants.Climber.MODIFY_JOYSTICK_RATE; | ||
| if (Math.abs((climber.getLeftHeight() + climber.getRightHeight()) / 2 - setpoint) < Constants.Climber.ALLOWED_HEIGHT_TOLERANCE) { |
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This line is to long. Expand its components into a (few) variable(s).
| * This command would allow the driver to modify the robot's angle manually | ||
| * with the value of the left xbox's joystick. | ||
| */ | ||
| public class JoystickRelease extends CommandBase { |
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Does this command release the joysticks?
| @@ -35,6 +36,7 @@ | |||
| private final UnitModel unitModel = new UnitModel(Constants.Climber.TICKS_PER_METER); | |||
| private DoubleSolenoid stopperA = null; | |||
| private Solenoid stopperB = null; | |||
| private boolean addDefault = false; | |||
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This flag's name is not clear enough.
But, why do you need it?
| } | ||
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| if (addDefault) { | ||
| this.setDefaultCommand(new JoystickRelease(this)); |
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Subsystem shouldn't know about their default commands.
pklito
suggested changes
Mar 8, 2020
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This PR adds a command that would allow the driver to manually adjust the height of which the system releases the rods. It would set this command as a default command at the beginning of the Endgame.