qdded some rqndop m thing

Iron-Panthers · Dec 6, 2023 · 7f12b4f · 7f12b4f
1 parent b4da06a
commit 7f12b4f
Showing 1 changed file with 11 additions and 2 deletions.
diff --git a/src/main/java/frc/robot/Subsystems/ElevatorSubsystem.java b/src/main/java/frc/robot/Subsystems/ElevatorSubsystem.java
@@ -30,7 +30,16 @@ public class ElevatorSubsystem extends SubsystemBase {
   public ElevatorSubsystem() {
 
     leftMotor = new TalonFX(14);
-    rightMotor = new TalonFX(15);
+    rightMotor = new TalonFX(15);<
+
+
+    leftMotor.configFactoryDefault();
+    rightMotor.configFactoryDefault();
+
+    rightMotor.clearStickyFaults();
+    leftMotor.clearStickyFaults();
+
+    rightMotor.follow(leftMotor);
 
     controller = new PIDController(0.4, 0, 0.0125);
 
@@ -63,7 +72,7 @@ public void periodic() {
     double ticks = leftMotor.getSelectedSensorPosition();
     motorPower = controller.calculate(ticksToInches(ticks), targetHeight);
     leftMotor.set(TalonFXControlMode.PercentOutput, MathUtil.clamp(motorPower, -0.75, 0.75));
-    rightMotor.set(TalonFXControlMode.PercentOutput, MathUtil.clamp(motorPower, -0.75, 0.75));
+
     currentHeight = ticksToInches(-leftMotor.getSelectedSensorPosition());
   }