From 7449fd7f09ca897b32aa42578f49ec4726293e92 Mon Sep 17 00:00:00 2001 From: Cyberarm Date: Mon, 4 Dec 2023 14:13:05 -0600 Subject: [PATCH] Possibly fix claw arm non functional --- .../java/dev/cyberarm/minibots/red_crab/RedCrabMinibot.java | 5 ++++- .../java/dev/cyberarm/minibots/red_crab/states/Pilot.java | 2 ++ 2 files changed, 6 insertions(+), 1 deletion(-) diff --git a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/RedCrabMinibot.java b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/RedCrabMinibot.java index 2aa2ee5..484d057 100644 --- a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/RedCrabMinibot.java +++ b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/RedCrabMinibot.java @@ -19,8 +19,8 @@ public class RedCrabMinibot { /// TUNING CONSTANTS /// public static final double DRIVETRAIN_MAX_SPEED = 0.5; + public static final double CLAW_ARM_MAX_SPEED = 0.5; public static final double WINCH_MAX_SPEED = 0.5; - public static final double CLAW_ARM_STOW_ANGLE = 0.0; public static final double CLAW_ARM_DEPOSIT_ANGLE = 120.0; public static final double CLAW_ARM_COLLECT_ANGLE = 150.0; @@ -116,6 +116,9 @@ public class RedCrabMinibot { /// --- --- BRAKING /// --- --- NOTE: This won't hold back much, if anything, but its a small help, maybe? 😃 clawArm.setZeroPowerBehavior(Motor.ZeroPowerBehavior.BRAKE); + /// --- --- Run Mode + clawArm.setRunMode(Motor.RunMode.PositionControl); + clawArm.setTargetPosition(0); /// --- Claws /// --- --- Wrist diff --git a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/Pilot.java b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/Pilot.java index 36ba10f..0d086cb 100644 --- a/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/Pilot.java +++ b/TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/Pilot.java @@ -148,6 +148,8 @@ public class Pilot extends CyberarmState { break; } + + robot.clawArm.set(RedCrabMinibot.CLAW_ARM_MAX_SPEED); } private void clawController() {