intake atıs

Scorpions-Robotics · Mar 7, 2024 · c92ec86 · c92ec86
1 parent 9fab5a0
commit c92ec86
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Showing 3 changed files with 18 additions and 4 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -70,10 +70,13 @@ private void configureBindings() {
    new JoystickButton(driverJoytick, 10).whileFalse(new InstantCommand(()->m_shooter.ShooterThrowAllMotorStop()));
 
    new JoystickButton(driverJoytick, 1).whileTrue(new dalhacan(m_intake, m_shooter));
+   new JoystickButton(driverJoytick, 1).whileTrue(new InstantCommand(()->m_intake.degistirmee()));
     new JoystickButton(driverJoytick, 3).whileTrue(new ShooterSetDegree(m_shooter, 160.0));
     //new JoystickButton(driverJoytick, 4).whileTrue(new cinarcan(m_intake, m_feeder));
         new JoystickButton(driverJoytick, 4).whileTrue(new PidIntakeCommand(m_intake, 1.2));
+        new JoystickButton(driverJoytick, 4).whileTrue(new InstantCommand(()-> m_intake.degistir()));
     new JoystickButton(driverJoytick, 1).whileFalse(new InstantCommand(()->m_intake.StopAngleMotor()));
+
     new JoystickButton(driverJoytick, 2).whileTrue(new InstantCommand(()->m_intake.reset()));
     new JoystickButton(driverJoytick, 2).whileTrue(new InstantCommand(()->m_shooter.AngleEncoderReset()));
 
@@ -93,6 +96,8 @@ private void configureBindings() {
     new JoystickButton(driverJoytick, 6).whileFalse(new InstantCommand(()->  m_feeder.stop()));
     new JoystickButton(driverJoytick, 8).whileTrue(new InstantCommand(()-> m_intake.runpickupmotor(0.8)));
     new JoystickButton(driverJoytick, 8).whileFalse(new InstantCommand(()->  m_intake.runpickupmotor(0)));
+    new JoystickButton(driverJoytick, 10).whileTrue(new InstantCommand(()-> m_feeder.backward()));
+    new JoystickButton(driverJoytick, 10).whileFalse(new InstantCommand(()-> m_feeder.stop()));
   }
 
 

diff --git a/src/main/java/frc/robot/commands/Intake/PidIntakeCommand.java b/src/main/java/frc/robot/commands/Intake/PidIntakeCommand.java
@@ -26,7 +26,7 @@ public PidIntakeCommand(IntakeSubsystem m_intake, double position) {
           else if (position < -m_intake.getRawEncoderOutput()) {
             m_intake.NewIntakeMotorOutput(-output * 0.8);
           }
-          
+
         });
         addRequirements(m_intake);
         getController().setTolerance(Constants.values.intake.PidIntakeTolerance);

diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
@@ -57,22 +57,31 @@ public void getNote(){
 
 
 public void degistir(){
-tekcalisma = true;
+tekcalisma = false;
 }
 
+public void degistirmee(){
+tekcalisma = true;
+}
 
 
-    public void runpickupmotorswitch(double a){
-
 
 
+    public void runpickupmotorswitch(double a){
+if(tekcalisma){
 while((intakedetector1.get() && intakedetector2.get())){
       intakeMotor1.set(a);
   }
 
 
   intakeMotor1.set(0); 
 }
+
+
+}
+
+
+