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-rw-r--r--src/org/usfirst/frc/team4272/robot2016/HwRobot.java6
-rw-r--r--src/org/usfirst/frc/team4272/robot2016/Teleop.java23
2 files changed, 26 insertions, 3 deletions
diff --git a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
index 71b13ed..f120ee0 100644
--- a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
+++ b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
@@ -61,8 +61,10 @@ public class HwRobot {
SmartDashboard.putNumber("armM", c.arm);
SmartDashboard.putNumber("armE", armE.pidGet());
- SmartDashboard.putNumber("lDriveE", lDriveE.pidGet());
- SmartDashboard.putNumber("rDriveE", rDriveE.pidGet());
+ SmartDashboard.putNumber("lDriveE distance", lDriveE.getDistance());
+ SmartDashboard.putNumber("lDriveE rate", lDriveE.getRate());
+ SmartDashboard.putNumber("rDriveE distance", rDriveE.getDistance());
+ SmartDashboard.putNumber("rDriveE rate", rDriveE.getRate());
SmartDashboard.putBoolean("ballL", ballL.get());
SmartDashboard.putBoolean("armL", armL.get());
}
diff --git a/src/org/usfirst/frc/team4272/robot2016/Teleop.java b/src/org/usfirst/frc/team4272/robot2016/Teleop.java
index 56e2dc7..c7029f4 100644
--- a/src/org/usfirst/frc/team4272/robot2016/Teleop.java
+++ b/src/org/usfirst/frc/team4272/robot2016/Teleop.java
@@ -1,13 +1,18 @@
package org.usfirst.frc.team4272.robot2016;
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.Timer;
import org.usfirst.frc.team4272.robotlib.Xbox360Controller.Axis;
import org.usfirst.frc.team4272.robotlib.Xbox360Controller.Button;
-import edu.wpi.first.wpilibj.Joystick;
+import org.usfirst.frc.team4272.robotlib.PushButton;
public class Teleop {
private final HwRobot robot;
private final double armSoftStop = 95;//295;
+ private final PushButton shootButton = new PushButton();
+ private final Timer time = new Timer();
+
public Teleop(HwRobot robot) {
this.robot = robot;
robot.armE.reset();
@@ -52,6 +57,22 @@ public class Teleop {
else if (oi.xbox.getButton(Button.RBumper))
control.arm = robot.armE.pidGet()/armSoftStop;
+ if (shootButton.update(oi.xbox.getButton(Button.X))) {
+ time.reset();
+ time.start();
+ }
+ if (oi.xbox.getButton(Button.X)) {
+ if (time.get() < 0.5) {
+ control.fBall = control.bBall = -0.5;
+ } else if (time.get() < 2.5) {
+ control.bBall = -0.5;
+ control.fBall = 1;
+ } else {
+ control.bBall = 1;
+ control.fBall = 1;
+ }
+ }
+
//if (robot.armE.pidGet() > armSoftStop && control.arm > 0)
// control.arm = 0;