diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/org/usfirst/frc/team4272/robot2015/Autonomous.java | 9 | ||||
| -rw-r--r-- | src/org/usfirst/frc/team4272/robot2015/Robot.java | 30 | ||||
| -rw-r--r-- | src/org/usfirst/frc/team4272/robot2015/Teleop.java | 2 |
3 files changed, 32 insertions, 9 deletions
diff --git a/src/org/usfirst/frc/team4272/robot2015/Autonomous.java b/src/org/usfirst/frc/team4272/robot2015/Autonomous.java index 5d48588..162d00b 100644 --- a/src/org/usfirst/frc/team4272/robot2015/Autonomous.java +++ b/src/org/usfirst/frc/team4272/robot2015/Autonomous.java @@ -15,8 +15,13 @@ public class Autonomous { } public Control run(Control c) { - if (robot.rDriveE.getDistance() < (15.5*140*1.1)) { - c.rDrive = c.lDrive = -0.7; + if (robot.rDriveE.getDistance() > -(15.5*140*1.15)) { + c.rDrive = c.lDrive = 0.7; + //initially -0.7 to drive backwards + //0 to 9787 for going backwards + //0 to negative for forward + //INDY: (15.5*140*1.1) + //PURDUE: (15.5*140*1.15) for a drop further } else { c.rDrive = c.lDrive = 0; } diff --git a/src/org/usfirst/frc/team4272/robot2015/Robot.java b/src/org/usfirst/frc/team4272/robot2015/Robot.java index 454f226..dd7e940 100644 --- a/src/org/usfirst/frc/team4272/robot2015/Robot.java +++ b/src/org/usfirst/frc/team4272/robot2015/Robot.java @@ -7,6 +7,7 @@ import edu.wpi.first.wpilibj.IterativeRobot; import edu.wpi.first.wpilibj.Relay; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import java.util.Date; import java.io.FileWriter; import java.io.IOException; import java.io.PrintWriter; @@ -37,21 +38,28 @@ public class Robot extends IterativeRobot { } private void inLog() throws IOException { - log = new PrintWriter(new FileWriter("/usr/local/frc/share/lukeshu.log", true)); + log = new PrintWriter(new FileWriter("/home/lvuser/tweeterbot/var/data.log", true)); log.println("\ntime" - +",ds:alliance,ds:voltage,ds:FMStime" + +",ds:FMS,ds:alliance,ds:voltage,ds:FMStime" +",c:lDrive,c:rDrive,c:winch,c:lIntake,c:rIntake,c:grab,c:push" +",i:lDrive.dist,i:lDrive.rate" +",i:rDrive.dist,i:rDrive.rate" +",i:winch.dist"); } + private void doLogOnce(String tag) throws Exception { + log.println(new Date() + +","+ds.isFMSAttached() + +","+tag); + } + private void doLog() throws Exception { SmartDashboard.putNumber("dist", robot.rDriveE.getDistance()); SmartDashboard.putNumber("raw", robot.rDriveE.getRaw()); if (!ds.isFMSAttached()) return; - log.println(0 + log.println(new Date() + +","+ds.isFMSAttached() +","+ds.getAlliance() +","+ds.getBatteryVoltage() +","+ds.getMatchTime() @@ -85,7 +93,10 @@ public class Robot extends IterativeRobot { } public void autonomousInit() { - auto = new Autonomous(robot); + try { + auto = new Autonomous(robot); + doLogOnce("autonomous"); + } catch (Exception e) {} } public void autonomousPeriodic() { try { @@ -95,8 +106,11 @@ public class Robot extends IterativeRobot { } public void teleopInit() { - robot.rDriveE.reset(); - teleop = new Teleop(); + try { + robot.rDriveE.reset(); + teleop = new Teleop(); + doLogOnce("teleop"); + } catch (Exception e) {} } public void teleopPeriodic() { @@ -107,6 +121,10 @@ public class Robot extends IterativeRobot { } public void disabledInit() { + try { + doLogOnce("disabled"); + log.flush(); + } catch (Exception e) {} } public void disabledPeriodic() { diff --git a/src/org/usfirst/frc/team4272/robot2015/Teleop.java b/src/org/usfirst/frc/team4272/robot2015/Teleop.java index 058589a..85b071b 100644 --- a/src/org/usfirst/frc/team4272/robot2015/Teleop.java +++ b/src/org/usfirst/frc/team4272/robot2015/Teleop.java @@ -27,7 +27,7 @@ public class Teleop { control.lDrive = jsScale(oi.lStick); control.rDrive = jsScale(oi.rStick); /* Winch */ - control.winch = oi.xbox.getAxis(Axis.LY);/* up is neg, down is pos */ + control.winch = oi.xbox.getAxis(Axis.LY ) * -1;/* up is neg, down is pos */ if (Math.abs(control.winch) < 0.1) { control.winch = 0; } /* left intake */ |