from testing climber on robot

FRC830 · Mar 8, 2025 · 77fdddb · 77fdddb
1 parent e52597e
commit 77fdddb
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Showing 3 changed files with 5 additions and 5 deletions.
diff --git a/src/main/cpp/ControllerInterface.cpp b/src/main/cpp/ControllerInterface.cpp
@@ -29,7 +29,7 @@ void ControllerInterface::UpdateClimberInput(RobotControlData &controlData)
     //     controlData.climberInput.Unspool = false;
     //     controlData.climberInput.Respool = false;
     // }
-    if (abs(m_copilot.GetRightY()) > 0.1)
+    if (std::fabs(m_copilot.GetRightY()) > 0.1)
     {
         controlData.climberInput.ClimberSpeed = m_copilot.GetRightY();
     }

diff --git a/src/main/cpp/InputManager/ClimberManager.cpp b/src/main/cpp/InputManager/ClimberManager.cpp
@@ -4,10 +4,10 @@
 void ClimberManager::HandleInput(RobotControlData &robotControlData)
 {
 
-    //if(m_matchTimer.HasElapsed(120_s))
-    //{
+    if(m_matchTimer.HasElapsed(105_s))
+    {
         m_Climber.SetClimberSpeed(robotControlData.climberInput.ClimberSpeed);
-    //}
+    }
 }
 
 void ClimberManager::ResetState(){

diff --git a/src/main/include/HAL/ClimberHAL.h b/src/main/include/HAL/ClimberHAL.h
@@ -22,7 +22,7 @@ class Climber
         void SetClimberSpeed(double speed); 
 
     private:
-        rev::spark::SparkMax m_climberMotor{50, rev::spark::SparkMax::MotorType::kBrushless};
+        rev::spark::SparkMax m_climberMotor{30, rev::spark::SparkMax::MotorType::kBrushless};
         rev::spark::SparkClosedLoopController m_climberMotorPID = m_climberMotor.GetClosedLoopController();
         rev::spark::SparkAbsoluteEncoder m_climberMotorAbsEncoder = m_climberMotor.GetAbsoluteEncoder();                      
 };