[#101] Merged Main

frc-862 · Jan 26, 2024 · dfbf535 · dfbf535
1 parent d025326
commit dfbf535
Showing 1 changed file with 3 additions and 11 deletions.
diff --git a/src/main/java/frc/robot/command/Climb.java b/src/main/java/frc/robot/command/Climb.java
@@ -34,17 +34,6 @@ public void initialize() {
 		setPoint = ClimbConstants.CLIMB_PID_SETPOINT_EXTENDED;
 	}
 
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {
-    // use pid to set climber power
-    double pidOutput = climbController.calculate(climber.getHeight(), setPoint);
-    climber.setPower(pidOutput);
-
-    LightningShuffleboard.setDouble("Climb", "Climb Height", climber.getHeight());
-    LightningShuffleboard.setDouble("Climb", "Climb Power", pidOutput);
-
-  }
 	/**
 	 * retracts climb to 0
 	 */
@@ -69,6 +58,9 @@ public void execute() {
 		if (extended() && tipDetection.isTipped()) {
 			retract();
 		}
+
+		LightningShuffleboard.setDouble("Climb", "Climb Height", climber.getHeight());
+    	LightningShuffleboard.setDouble("Climb", "Climb Power", pidOutput);
 	}
 
 	/**