setDefaultCommand is at rest

SciBorgs · Jan 20, 2025 · 8326bf9 · 8326bf9
1 parent 263c4c2
commit 8326bf9
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Showing 3 changed files with 7 additions and 5 deletions.
diff --git a/simgui.json b/simgui.json
@@ -19,8 +19,6 @@
       "/FMSInfo": "FMSInfo",
       "/Faults/Active Faults": "Alerts",
       "/Faults/Total Faults": "Alerts",
-      "/Faults/Active Faults": "Alerts",
-      "/Faults/Total Faults": "Alerts",
       "/Robot/autos": "String Chooser",
       "/Robot/drive/field2d": "Field2d",
       "/Robot/drive/frontLeft/driveFeedback": "PIDController",
@@ -33,6 +31,10 @@
       "/Robot/drive/rearRight/turnFeedback": "PIDController",
       "/Robot/drive/rotationController": "PIDController",
       "/Robot/drive/translationController": "ProfiledPIDController",
+      "/Robot/elevator/measurement/mech": "Mechanism2d",
+      "/Robot/elevator/pid": "ProfiledPIDController",
+      "/Robot/elevator/setpoint/mech": "Mechanism2d",
+      "/SmartDashboard/Alerts": "Alerts",
       "/SmartDashboard/Scheduler": "Scheduler",
       "/SmartDashboard/VisionSystemSim-main/Sim Field": "Field2d",
       "/SmartDashboard/drive dynamic backward": "Command",
@@ -200,7 +202,7 @@
             0.0,
             0.8500000238418579
           ],
-          "height": 140,
+          "height": 405,
           "series": [
             {
               "color": [

diff --git a/src/main/java/org/sciborgs1155/robot/Robot.java b/src/main/java/org/sciborgs1155/robot/Robot.java
@@ -140,8 +140,6 @@ private void configureBindings() {
     drive.setDefaultCommand(drive.drive(x, y, omega));
     led.setDefaultCommand(led.scrolling());
 
-    elevator.setDefaultCommand(elevator.retract());
-
     autonomous().whileTrue(Commands.defer(autos::getSelected, Set.of(drive)).asProxy());
     autonomous().whileTrue(led.autos());
 

diff --git a/src/main/java/org/sciborgs1155/robot/elevator/Elevator.java b/src/main/java/org/sciborgs1155/robot/elevator/Elevator.java
@@ -63,6 +63,8 @@ public Elevator(ElevatorIO hardware) {
     pid.reset(hardware.position());
     pid.setGoal(MIN_HEIGHT.in(Meters));
 
+    setDefaultCommand(retract());
+
     sysIdRoutine =
         new SysIdRoutine(
             new SysIdRoutine.Config(),