fix for #24

DeepBlueRobotics · Mar 6, 2024 · ec3ea78 · ec3ea78
1 parent 53166b4
commit ec3ea78
Show file tree

Hide file tree

Showing 2 changed files with 2 additions and 7 deletions.
diff --git a/src/main/java/org/carlmontrobotics/RobotContainer.java b/src/main/java/org/carlmontrobotics/RobotContainer.java
@@ -58,17 +58,10 @@ private void setDefaultCommands() {
     // () -> ProcessedAxisValue(driverController, Axis.kRightX)),
     // () -> driverController.getRawButton(OI.Driver.slowDriveButton)
     // ));
-
     arm.setDefaultCommand(new ArmTeleop(arm, () -> inputProcessing(getStickValue(manipulatorController, Axis.kLeftY))));
   }
 
   private void setBindingsDriver() {
-    new JoystickButton(driverController, Button.kX.value)
-        .whileTrue(arm.sysIdQuasistatic(SysIdRoutine.Direction.kForward));
-    new JoystickButton(driverController, Button.kY.value)
-        .whileTrue(arm.sysIdQuasistatic(SysIdRoutine.Direction.kReverse));
-    new JoystickButton(driverController, Button.kB.value).whileTrue(arm.sysIdDynamic(SysIdRoutine.Direction.kForward));
-    new JoystickButton(driverController, Button.kA.value).whileTrue(arm.sysIdDynamic(SysIdRoutine.Direction.kReverse));
     // 4 cardinal directions on arrowpad
     // slowmode toggle on trigger
     // 3 cardinal directions on letterpad

diff --git a/src/main/java/org/carlmontrobotics/commands/ArmTeleop.java b/src/main/java/org/carlmontrobotics/commands/ArmTeleop.java
@@ -46,6 +46,8 @@ public void initialize() {
   public void execute() {
     // use trapazoid math and controllerMoveArm method from arm subsytem to apply
     // voltage to the motor
+    if (Constants.OI.JOY_THRESH == 0)
+      return;
     double speeds = getRequestedSpeeds();
     double currTime = Timer.getFPGATimestamp();
     double deltaT = currTime - lastTime;