diff options
| author | Luke Shumaker <lukeshu@sbcglobal.net> | 2016-02-17 16:12:19 -0500 |
|---|---|---|
| committer | Luke Shumaker <lukeshu@sbcglobal.net> | 2016-02-17 16:12:19 -0500 |
| commit | 363e1299ff558f62aba9e6b52fff646b4eb61426 (patch) | |
| tree | ea506ff28bbda97792636155d95cf80fb192e8bf | |
| parent | 12424bac0dff285f21e4da3a227ba1569c2044b2 (diff) | |
from monday
| -rw-r--r-- | src/org/usfirst/frc/team4272/robot2016/HwRobot.java | 4 | ||||
| -rw-r--r-- | src/org/usfirst/frc/team4272/robot2016/Teleop.java | 2 |
2 files changed, 4 insertions, 2 deletions
diff --git a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java index 3ee3de0..0eb95fd 100644 --- a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java +++ b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java @@ -32,8 +32,8 @@ public class HwRobot { private PIDOutput lDriveM1 = new Talon(/*PWM*/1), lDriveM2 = new Talon(/*PWM*/0); private PIDOutput rDriveM1 = new Talon(/*PWM*/2), rDriveM2 = new Talon(/*PWM*/4); private PIDOutput armM = new Talon(/*PWM*/8); - private PIDOutput fBallM = new PIDOutputSplitter(new Talon(/*PWM*/9), new Talon(/*PWM*/6)); - private PIDOutput bBallM = new PIDOutputSplitter(new Talon(/*PWM*/3), new Talon(/*PWM*/7)); + private PIDOutput fBallM = new PIDOutputSplitter(new Talon(/*PWM*/9), new Talon(/*PWM*/3)); + private PIDOutput bBallM = new PIDOutputSplitter(new Talon(/*PWM*/6), new Talon(/*PWM*/7)); public HwRobot() { //lDriveE.setPIDSourceType(PIDSourceType.kRate); diff --git a/src/org/usfirst/frc/team4272/robot2016/Teleop.java b/src/org/usfirst/frc/team4272/robot2016/Teleop.java index b082adb..7b3ca55 100644 --- a/src/org/usfirst/frc/team4272/robot2016/Teleop.java +++ b/src/org/usfirst/frc/team4272/robot2016/Teleop.java @@ -39,6 +39,8 @@ public class Teleop { + oneIf(oi.xbox.getButton(Button.A)) - oneIf(oi.xbox.getButton(Button.B)), 1); + control.fBall = control.fBall < 0 ? 0.5*control.fBall : control.fBall; + control.bBall = control.bBall < 0 ? 0.5*control.bBall : control.bBall; SmartDashboard.putNumber("fBall", control.fBall); SmartDashboard.putNumber("bBall", control.bBall); |