added functions

Choate-Robotics · Aug 30, 2024 · 6f1d79d · 6f1d79d
1 parent 868756d
commit 6f1d79d
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Showing 2 changed files with 13 additions and 1 deletion.
diff --git a/config.py b/config.py
@@ -22,5 +22,6 @@
 
 arm_id_1 = 10 #placeholders
 arm_id_2 = 11 
+arm_speed = 1
 
 arm_CONFIG: TalonConfig = TalonConfig(0.5, 0, 0, 0, 0, brake_mode=True)
diff --git a/subsystem/arm.py b/subsystem/arm.py
@@ -12,7 +12,7 @@ def __init__(self):
 
         self.motor: TalonFX = TalonFX(
             can_id=config.arm_id_1,
-            config=config.arm_config,
+            config=config.arm_CONFIG,
             inverted=False #placeholder
         )
 
@@ -26,5 +26,16 @@ def init(self):
             self.motor.init()
             self.motor_follower.init()
 
+            self.motor_follwer.follow(self.motor, True)
+
+        def raise_arm(self):
+            self.motor.set_target_velocity(config.arm_speed)
+
+        def lower_arm(self):
+            self.motor.set_target_velocity(-config.arm_speed)
+
+        def stop_arm(self):
+            self.motor.set_target_velocity(-config.arm_speed)
+