update constants

grt192 · Feb 1, 2024 · ed9f15d · ed9f15d
1 parent 228908c
commit ed9f15d
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Showing 2 changed files with 13 additions and 4 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -17,8 +17,8 @@
  */
 public final class Constants {
   public static class ElevatorConstants {
-    public static final int EXTENSION_ID = 0;
-    public static final int EXTENSION_FOLLOW_ID = 0;
+    public static final int EXTENSION_ID = 10;
+    public static final int EXTENSION_FOLLOW_ID = 11;
 
     public static final float EXTENSION_LIMIT_METERS = 0;
 
@@ -94,10 +94,10 @@ public static class IntakeConstants {
 
 
   public static class ClimbConstants {
-    public static final int LEFT_WINCH_MOTOR_ID = 10;
+    public static final int LEFT_WINCH_MOTOR_ID = 8;
     public static final int LEFT_ZERO_LIMIT_ID = 0;
 
-    public static final int RIGHT_WINCH_MOTOR_ID = 11;
+    public static final int RIGHT_WINCH_MOTOR_ID = 9;
     public static final int RIGHT_ZERO_LIMIT_ID = 1;
 
     public static final double WINCH_REDUCTION = 9.49;

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -90,6 +90,15 @@ public RobotContainer() {
 
   private void configureBindings() {
 
+      elevatorSubsystem.setDefaultCommand(new InstantCommand(() -> {
+        if(mechController.getLeftTriggerAxis() != 0 && mechController.getRightTriggerAxis() != 0){
+          elevatorSubsystem.setManual();
+          elevatorSubsystem.setManualPower(mechController.getRightTriggerAxis()-mechController.getLeftTriggerAxis());
+        }
+        else{
+          elevatorSubsystem.setAuto();
+        }
+    }));
 
       bButton.onTrue(new InstantCommand(() -> {
         shooterFeederSubsystem.setFeederMotorSpeed(.4);