From 71ffa8932f9d2055d1df5f2ce60b9372241540fe Mon Sep 17 00:00:00 2001 From: semblanceofsense Date: Mon, 24 Feb 2025 19:25:34 -0700 Subject: [PATCH 1/2] Support hand linebreak --- src/main/java/frc/robot/subsystems/ArmSubsystem.java | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/subsystems/ArmSubsystem.java b/src/main/java/frc/robot/subsystems/ArmSubsystem.java index 6899c07..b8d12df 100644 --- a/src/main/java/frc/robot/subsystems/ArmSubsystem.java +++ b/src/main/java/frc/robot/subsystems/ArmSubsystem.java @@ -145,7 +145,7 @@ public void setPivotAngle(double angle) { */ public double getPivotAngle() { return (pivotAbsEncoder.getPosition() >= Math.PI) - ? pivotAbsEncoder.getPosition() - 2 * Math.PI - ArmConstants.PIVOT_ENCODER_OFFSET + ? pivotAbsEncoder.getPosition() - 2 * Math.PI - ArmConstants.PIVOT_ENCODER_OFFSET : pivotAbsEncoder.getPosition() - ArmConstants.PIVOT_ENCODER_OFFSET; } @@ -159,6 +159,11 @@ public void periodic() { pivotPID.setP(ConfigManager.getInstance().get("arm_p", ArmConstants.PIVOT_P)); pivotPID.setI(ConfigManager.getInstance().get("arm_i", ArmConstants.PIVOT_I)); pivotPID.setD(ConfigManager.getInstance().get("arm_d", ArmConstants.PIVOT_D)); + + if (gamePieceLineBreak.get()) { + // Stop us in our place + setIntakeSpeed(0); + } } public void resetPID() { From b3358707c40887a38de47187f10653b63373b48a Mon Sep 17 00:00:00 2001 From: semblanceofsense Date: Mon, 24 Feb 2025 19:27:34 -0700 Subject: [PATCH 2/2] spotless --- src/main/deploy/tuning.json | 1 + src/main/java/frc/robot/subsystems/ArmSubsystem.java | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) create mode 100644 src/main/deploy/tuning.json diff --git a/src/main/deploy/tuning.json b/src/main/deploy/tuning.json new file mode 100644 index 0000000..0967ef4 --- /dev/null +++ b/src/main/deploy/tuning.json @@ -0,0 +1 @@ +{} diff --git a/src/main/java/frc/robot/subsystems/ArmSubsystem.java b/src/main/java/frc/robot/subsystems/ArmSubsystem.java index b8d12df..4669999 100644 --- a/src/main/java/frc/robot/subsystems/ArmSubsystem.java +++ b/src/main/java/frc/robot/subsystems/ArmSubsystem.java @@ -145,7 +145,7 @@ public void setPivotAngle(double angle) { */ public double getPivotAngle() { return (pivotAbsEncoder.getPosition() >= Math.PI) - ? pivotAbsEncoder.getPosition() - 2 * Math.PI - ArmConstants.PIVOT_ENCODER_OFFSET + ? pivotAbsEncoder.getPosition() - 2 * Math.PI - ArmConstants.PIVOT_ENCODER_OFFSET : pivotAbsEncoder.getPosition() - ArmConstants.PIVOT_ENCODER_OFFSET; }