Elevator #53
Elevator #53
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@6kn4eakfr4s Look at comments please. Just a couple changes.
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| @Override | ||
| public void initialize() { | ||
| elevatorSubsystem.setMotorPower(0.2); |
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Should probably be -.2?
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I think someone told me that the elevator motor's inversed, which means to go down u need positive power. We can just run a quick test about that.
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Changed this to -0.2 for now.
| import frc.robot.subsystems.elevator.ElevatorSubsystem; | ||
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| /** Sends the elevator to position zero. */ | ||
| public class ElevatorToLimitSwitchCommand extends Command { |
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Can you also combine this to be a part of the toGround command? Maybe you can just make a command that is a sequence of first doing the toGround and then this command and we will use that to lower the elevator.
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So first do toGround command and then if it doesn't touch the limit switch I keep lowering it?
| @@ -45,7 +49,7 @@ public ElevatorSubsystem() { | |||
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| extensionMotor = new CANSparkMax(ElevatorConstants.EXTENSION_ID, MotorType.kBrushless); | |||
| extensionMotor.setIdleMode(IdleMode.kBrake); | |||
| extensionMotor.setInverted(false); | |||
| extensionMotor.setInverted(true); | |||
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be careful changing this, I think it should still be false
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Changed to false according to Greg
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| if (ElevatorConstants.LIMIT_SWITCH_ENABLED) { | ||
| if (zeroLimitSwitch != null && zeroLimitSwitch.get()) { //if limit switch is not pressed | ||
| if (Math.abs(this.getExtensionPercent()) < ElevatorConstants.EXTENSION_TOLERANCE) { |
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nested ifs can be ands
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Removed this part since we only need to do this in toLimitSwitch command
| if (zeroLimitSwitch != null && zeroLimitSwitch.get()) { //if limit switch is not pressed | ||
| if (Math.abs(this.getExtensionPercent()) < ElevatorConstants.EXTENSION_TOLERANCE) { | ||
| //if the encoder thinks the elevator is at ground | ||
| CommandScheduler.getInstance().schedule(new ElevatorToLimitSwitchCommand(this)); |
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I don't think this will work as you expect. Image we are trying to go to the amp height and it begins raising. If it is still within the tolerance this will override the raising and cancel going to the amp.
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Also this is probably unnecessary. We only really need to check that it hit the limit switch when we are actively lowering it. It won't raise on its own.
| if (zeroLimitSwitch != null && zeroLimitSwitch.get()) { | ||
| return true; | ||
| if (ElevatorConstants.LIMIT_SWITCH_ENABLED) { | ||
| if (zeroLimitSwitch != null && zeroLimitSwitch.get()) { |
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you can just return the if condition
| if (zeroLimitSwitch != null) { | ||
| return !zeroLimitSwitch.get(); | ||
| } else { | ||
| throw new Error("Can't find limit switch!"); |
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probably don't do this because it will crash the code if this is called when the limit switch is unplugged. For example, if the limit switch gets unplugged in a match, the robot code will crash when this is called. You can print something and then the best thing to would be disabling the code that uses the limit switch. (if no limit switch is detected, fallback on the current code that doesn't use it).
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I kept this as it allows me to see if we have the limit switch plugged in by tring and catching errors.
…t switch is not pressed.
#36