fixed some things in robot container

Iron-Panthers · Sep 15, 2023 · 3a4170c · 3a4170c
1 parent cdcbcf2
commit 3a4170c
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Showing 2 changed files with 4 additions and 8 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -197,10 +197,6 @@ public void containerMatchStarting() {
    * edu.wpi.first.wpilibj2.command.button.JoystickButton}.
    */
   private void configureButtonBindings() {
-    jason.a().onTrue(new IntakeModeCommand(intakeSubsystem, IntakeMode.HOLD));
-    jason.b().onTrue(new IntakeModeCommand(intakeSubsystem, IntakeMode.INTAKE));
-    jason.x().onTrue(new IntakeModeCommand(intakeSubsystem, IntakeMode.OUTTAKE));
-
     jason.leftTrigger().onTrue(new WristManualCommand(elevatorSubsystem, 0));
     jason.rightTrigger().onTrue(new WristManualCommand(elevatorSubsystem, 20));
     jason
@@ -307,16 +303,16 @@ private void configureButtonBindings() {
                 drivebaseSubsystem, intakeSubsystem, EngageCommand.EngageDirection.GO_BACKWARD));
 
     // outtake states
+
     jasonLayer
         .off(jason.leftTrigger())
         .whileTrue(
-            new ForceOuttakeSubsystemModeCommand(outtakeSubsystem, OuttakeSubsystem.Modes.INTAKE));
+            new IntakeModeCommand(intakeSubsystem, IntakeSubsystem.Modes.INTAKE));
     jasonLayer
         .off(jason.rightTrigger())
-        .onTrue(new SetOuttakeModeCommand(outtakeSubsystem, OuttakeSubsystem.Modes.OUTTAKE));
+        .onTrue(new IntakeModeCommand(intakeSubsystem, IntakeSubsystem.Modes.OUTTAKE));
     jasonLayer
         .off(jason.x())
-        .onTrue(new SetOuttakeModeCommand(outtakeSubsystem, OuttakeSubsystem.Modes.OFF))
         .onTrue(new IntakeModeCommand(intakeSubsystem, IntakeSubsystem.IntakeMode.HOLD));
 
     // intake presets

diff --git a/src/main/java/frc/robot/commands/ElevatorManualCommand.java b/src/main/java/frc/robot/commands/ElevatorManualCommand.java
@@ -27,7 +27,7 @@ public void initialize() {}
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    elevatorSubsystem.setTargetHeight(elevatorSubsystem.getTargetHeight() + rate.getAsDouble());
+    elevatorSubsystem.setTargetHeight(elevatorSubsystem.getHeight() + rate.getAsDouble());
   }
 
   // Called once the command ends or is interrupted.