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[examples] Use more logical elevator setpoints in GearsBot #3198

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Mar 8, 2021
Merged

[examples] Use more logical elevator setpoints in GearsBot #3198

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4 changes: 2 additions & 2 deletions wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/RobotContainer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -42,8 +42,8 @@ void RobotContainer::ConfigureButtonBindings() {
frc2::JoystickButton m_l1{&m_joy, 11};
frc2::JoystickButton m_r1{&m_joy, 12};

m_dUp.WhenPressed(SetElevatorSetpoint(0.2, &m_elevator));
m_dDown.WhenPressed(SetElevatorSetpoint(-0.2, &m_elevator));
m_dUp.WhenPressed(SetElevatorSetpoint(0.25, &m_elevator));
m_dDown.WhenPressed(SetElevatorSetpoint(0.0, &m_elevator));
m_dRight.WhenPressed(CloseClaw(&m_claw));
m_dLeft.WhenPressed(OpenClaw(&m_claw));

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7 changes: 3 additions & 4 deletions wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/RobotContainer.java
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Expand Up @@ -48,8 +48,7 @@ public class RobotContainer {
public RobotContainer() {
// Put Some buttons on the SmartDashboard
SmartDashboard.putData("Elevator Bottom", new SetElevatorSetpoint(0, m_elevator));
SmartDashboard.putData("Elevator Platform", new SetElevatorSetpoint(0.2, m_elevator));
SmartDashboard.putData("Elevator Top", new SetElevatorSetpoint(0.3, m_elevator));
SmartDashboard.putData("Elevator Top", new SetElevatorSetpoint(0.25, m_elevator));

SmartDashboard.putData("Wrist Horizontal", new SetWristSetpoint(0, m_wrist));
SmartDashboard.putData("Raise Wrist", new SetWristSetpoint(-45, m_wrist));
Expand Down Expand Up @@ -93,8 +92,8 @@ private void configureButtonBindings() {
final JoystickButton r1 = new JoystickButton(m_joystick, 12);

// Connect the buttons to commands
dpadUp.whenPressed(new SetElevatorSetpoint(0.2, m_elevator));
dpadDown.whenPressed(new SetElevatorSetpoint(-0.2, m_elevator));
dpadUp.whenPressed(new SetElevatorSetpoint(0.25, m_elevator));
dpadDown.whenPressed(new SetElevatorSetpoint(0.0, m_elevator));
dpadRight.whenPressed(new CloseClaw(m_claw));
dpadLeft.whenPressed(new OpenClaw(m_claw));

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