final qual for saturday

Team334 · Oct 19, 2024 · 5130512 · 5130512
1 parent 9f5b24b
commit 5130512
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Showing 2 changed files with 17 additions and 1 deletion.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -77,7 +77,7 @@ public static class Speeds {
     public static final double SHOOTER_IDLE_SPEED = 0.3;
 
     public static final double SHOOTER_ANGLE_MAX_SPEED = 0.3;
-    public static final double ELEVATOR_MAX_SPEED = 1;
+    public static final double ELEVATOR_MAX_SPEED = 0.6;
 
     public static final double INTAKE_FEED_SPEED = 0.6;
     public static final double OUTTAKE_FEED_SPEED = -0.4;

diff --git a/src/main/java/frc/robot/subsystems/ElevatorSubsystem.java b/src/main/java/frc/robot/subsystems/ElevatorSubsystem.java
@@ -125,6 +125,22 @@ public void driveElevator(double speed) {
     // _leftMotor.set(ff + speed);
   }
 
+  public void operateElevator(double speed) {
+    double ff = 0;
+
+    if (_usingClimberFeed)
+      // ff = _climbFeed.calculate(speed);
+      ff = _climbFeed.calculate(0);
+    else {
+      // ff = _elevatorFeed.calculate(speed);
+      ff = _elevatorFeed.calculate(speed);
+    }
+
+    ff = UtilFuncs.FromVolts(ff);
+
+    _leftMotor.set(ff + speed);
+  }
+
   /** Stops elevator movement. */
   public void stopElevator() {
     driveElevator(0);