Drunk man changes

Iron-Panthers · Nov 29, 2023 · 330767a · 330767a
1 parent 4f16e5a
commit 330767a
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Showing 2 changed files with 6 additions and 22 deletions.
diff --git a/src/main/java/frc/Subsystems/ElevatorSubsystem.java b/src/main/java/frc/Subsystems/ElevatorSubsystem.java
@@ -124,20 +124,13 @@ public boolean nearTargetHeight(){
  public void periodic() {
    // This method will be called once per scheduler run
    motorPower = pidController.calculate(getCurrentHeight());
-   if (!pidController.atSetpoint()){
-     if (getCurrentHeight()<5){
-       left_motor.set(TalonFXControlMode.PercentOutput, -(MathUtil.clamp(motorPower + 0.02, 0, 0.2)));
+       left_motor.set(TalonFXControlMode.PercentOutput, -(MathUtil.clamp(motorPower + 0.02, -0.5,0.5)));
      }
-     else{
-       left_motor.set(TalonFXControlMode.PercentOutput, -(MathUtil.clamp(motorPower + 0.02, 0,0.5)));
-     }
-   }
    // left_motor.set(TalonFXControlMode.PercentOutput, -(0.1));
- }
 
 
  @Override
  public void simulationPeriodic() {
    // This method will be called once per scheduler run during simulation
    }
- }
+  }
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -28,21 +28,12 @@ public class RobotContainer {
  /** The container for the robot. Contains subsystems, OI devices, and commands. */
  public RobotContainer() {
 
-
-   double[] levels = {20d, 15d, 10d, 3d};
-
-
-   for(double i :levels){
-     targetHeight = i;
-   }
-
-
    // Configure the button bindings
    configureButtonBindings();
-   driverA.y().onTrue(new ElevatorBaseCommand(elevatorSubsystem, 20d));
-   driverA.x().onTrue(new ElevatorBaseCommand(elevatorSubsystem, 15d));
-   driverA.b().onTrue(new ElevatorBaseCommand(elevatorSubsystem, 10d));
-   driverA.a().onTrue(new ElevatorBaseCommand(elevatorSubsystem, 3d));
+   driverA.y().onTrue(new ElevatorBaseCommand(elevatorSubsystem, 20));
+   driverA.x().onTrue(new ElevatorBaseCommand(elevatorSubsystem, 15));
+   driverA.b().onTrue(new ElevatorBaseCommand(elevatorSubsystem, 10));
+   driverA.a().onTrue(new ElevatorBaseCommand(elevatorSubsystem, 3));
  }