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Team766 · Nov 14, 2024 · 9b0a6b8 · 9b0a6b8
1 parent 846a71c
commit 9b0a6b8
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Showing 2 changed files with 16 additions and 3 deletions.
diff --git a/src/main/java/com/team766/robot/rookie_bot/OI.java b/src/main/java/com/team766/robot/rookie_bot/OI.java
@@ -6,6 +6,7 @@
 import com.team766.hal.RobotProvider;
 import com.team766.logging.Category;
 import com.team766.robot.example.procedures.*;
+import com.team766.robot.rookie_bot.procedures.PIDElevator;
 
 /**
  * This class is the glue that binds the controls on the physical operator
@@ -33,8 +34,16 @@ public void run(final Context context) {
             RobotProvider.instance.refreshDriverStationData();
 
             Robot.drive.setArcadeDrivePower(joystick0.getAxis(1), joystick0.getAxis(3));
+
+            if ( joystick0.getButtonPressed(4) ){
+                context.startAsync(new PIDElevator(false));
+            }
+            if ( joystick0.getButtonPressed(5) ){
+                context.startAsync(new PIDElevator(true));
+            }
 
 
+
             // Add driver controls here - make sure to take/release ownership
             // of mechanisms when appropriate.
         }

diff --git a/src/main/java/com/team766/robot/rookie_bot/procedures/PIDElevator.java b/src/main/java/com/team766/robot/rookie_bot/procedures/PIDElevator.java
@@ -9,9 +9,13 @@ public class PIDElevator extends Procedure {
     double setpoint;
     PIDController controller;
 
-    public PIDElevator(){
-
-    this.setpoint = 1; 
+    public PIDElevator(boolean top){
+        if (top == true ){
+        this.setpoint = 400;
+        }
+        else {
+            this.setpoint = 1 ;
+        }
     }
 
     public void run(Context context){