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Demonstrating servo command in subsystem #10

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merged 2 commits into from
Jan 30, 2025
Merged

Demonstrating servo command in subsystem #10

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6ad06d6
Demonstrating servo command in subsystem
chrishoffman Jan 30, 2025
e064249
fix inadvertant edit
chrishoffman Jan 30, 2025
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4 changes: 2 additions & 2 deletions src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -141,8 +141,8 @@ private void configureXboxControllerBindings() {
}, kSwerveDrive));

// servo testing
kDriverController.a().onTrue(new InstantCommand(() -> kCageTwist.latch(), kCageTwist));
kDriverController.b().onTrue(new InstantCommand(() -> kCageTwist.unlatch(), kCageTwist));
kDriverController.a().onTrue(kCageTwist.latch());
kDriverController.b().onTrue(kCageTwist.unlatch());
System.out.println("Xbox Controller Bound");

}
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12 changes: 5 additions & 7 deletions src/main/java/frc/robot/subsystems/TwistServo.java
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@@ -1,19 +1,17 @@
package frc.robot.subsystems;
import edu.wpi.first.wpilibj.Servo;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.SubsystemBase;

/** Testing servo */
public class TwistServo extends SubsystemBase {
Servo twist = new Servo(0);

public void latch(){
twist.setAngle(90);

public Command latch() {
return this.runOnce(() -> twist.setAngle(90));
}

public void unlatch(){
twist.setAngle(180);

public Command unlatch() {
return this.runOnce(() -> twist.setAngle(180));
}

}