Merge branch 'sofie-arm' of https://github.com/DeepBlueRobotics/Robot…

…Code2024 into sofie-arm
DeepBlueRobotics · Mar 3, 2024 · 986bbb1 · 986bbb1
2 parents 244d642 + ec758ef
commit 986bbb1
Showing 1 changed file with 7 additions and 7 deletions.
diff --git a/src/main/java/org/carlmontrobotics/RobotContainer.java b/src/main/java/org/carlmontrobotics/RobotContainer.java
@@ -72,15 +72,15 @@ private void setBindingsManipulator() {
     //right joystick used for manual arm control
 
     // Speaker Buttons
-    new JoystickButton(manipulatorController, Constants.OI.Manipulator.RAISE_TO_SPEAKER_POD_BUTTON).onTrue(new InstantCommand(() -> {arm.driveArm(Constants.Arm.PODIUM_ANGLE);}));
-    new JoystickButton(manipulatorController, Constants.OI.Manipulator.RAISE_TO_SPEAKER_NEXT_BUTTON).onTrue(new InstantCommand(() -> {arm.driveArm(Constants.Arm.SUBWOFFER_ANGLE);}));
-    new JoystickButton(manipulatorController, Constants.OI.Manipulator.RAISE_TO_SPEAKER_SAFE_BUTTON).onTrue(new InstantCommand(() -> {arm.driveArm(Constants.Arm.SAFE_ZONE_ANGLE);}));
+    new JoystickButton(manipulatorController, Constants.OI.Manipulator.RAISE_TO_SPEAKER_POD_BUTTON).onTrue(new InstantCommand(() -> {arm.setArmTarget(PODIUM_ANGLE);}));
+    new JoystickButton(manipulatorController, Constants.OI.Manipulator.RAISE_TO_SPEAKER_NEXT_BUTTON).onTrue(new InstantCommand(() -> {arm.setArmTarget(SUBWOFFER_ANGLE);}));
+    new JoystickButton(manipulatorController, Constants.OI.Manipulator.RAISE_TO_SPEAKER_SAFE_BUTTON).onTrue(new InstantCommand(() -> {arm.setArmTarget(SAFE_ZONE_ANGLE);}));
     // Amp and Intake Buttons
-    new JoystickButton(manipulatorController, Constants.OI.Manipulator.RAISE_TO_AMP_BUTTON).onTrue(new InstantCommand(() -> {arm.driveArm(Constants.Arm.AMP_ANGLE);}));
-    new JoystickButton(manipulatorController, Constants.OI.Manipulator.RAISE_TO_GROUND_BUTTON).onTrue(new InstantCommand(() -> {arm.driveArm(Constants.Arm.INTAKE_ANGLE);}));
+    new JoystickButton(manipulatorController, Constants.OI.Manipulator.RAISE_TO_AMP_BUTTON).onTrue(new InstantCommand(() -> {arm.setArmTarget(AMP_ANGLE);}));
+    new JoystickButton(manipulatorController, Constants.OI.Manipulator.RAISE_TO_GROUND_BUTTON).onTrue(new InstantCommand(() -> {arm.setArmTarget(INTAKE_ANGLE);}));
     // Cimber Buttons
-    new JoystickButton(manipulatorController, Constants.OI.Manipulator.RAISE_TO_CLIMBER_BUTTON).onTrue(new InstantCommand(() -> {arm.driveArm(Constants.Arm.CLIMBER_UP_ANGLE);}));
-    new JoystickButton(manipulatorController, Constants.OI.Manipulator.LOWER_TO_CLIMBER_BUTTON).onTrue(new InstantCommand(() -> {arm.driveArm(Constants.Arm.CLIMBER_DOWN_ANGLE);}));
+    new JoystickButton(manipulatorController, Constants.OI.Manipulator.RAISE_TO_CLIMBER_BUTTON).onTrue(new InstantCommand(() -> {arm.setArmTarget(CLIMBER_UP_ANGLE);}));
+    new JoystickButton(manipulatorController, Constants.OI.Manipulator.LOWER_TO_CLIMBER_BUTTON).onTrue(new InstantCommand(() -> {arm.setArmTarget(CLIMBER_DOWN_ANGLE);}));
   }
 
   public Command getAutonomousCommand() {