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-rw-r--r--src/org/usfirst/frc/team4272/robot2016/HwRobot.java18
-rw-r--r--src/org/usfirst/frc/team4272/robot2016/Teleop.java5
2 files changed, 16 insertions, 7 deletions
diff --git a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
index 0eb95fd..ec96bf4 100644
--- a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
+++ b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
@@ -1,10 +1,11 @@
package org.usfirst.frc.team4272.robot2016;
import org.usfirst.frc.team4272.robotlib.PIDOutputSplitter;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-//import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PIDOutput;
-//import edu.wpi.first.wpilibj.PIDSourceType;
+import edu.wpi.first.wpilibj.PIDSourceType;
import edu.wpi.first.wpilibj.Talon;
public class HwRobot {
@@ -32,21 +33,32 @@ 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 Encoder armE = new Encoder(/*DIO*/0, /*DIO*/1, /*DIO*/2);
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);
//rDriveE.setPIDSourceType(PIDSourceType.kRate);
+ armE.setPIDSourceType(PIDSourceType.kDisplacement);
}
public void run(Control c) {
+ double armEval = armE.pidGet(); // avoid reading twice
+ if (armEval < -295)
+ c.arm = 0;
+
lDriveM1.pidWrite( c.lDrive1);
lDriveM2.pidWrite( c.lDrive2);
rDriveM1.pidWrite(-c.rDrive1);
rDriveM2.pidWrite(-c.rDrive2);
- armM.pidWrite(-c.arm);
+ armM.pidWrite(c.arm);
fBallM.pidWrite(-c.fBall);
bBallM.pidWrite(-c.bBall);
+
+ SmartDashboard.putNumber("fBall", c.fBall);
+ SmartDashboard.putNumber("bBall", c.bBall);
+ SmartDashboard.putNumber("armM", c.arm);
+ SmartDashboard.putNumber("armE", armEval);
}
}
diff --git a/src/org/usfirst/frc/team4272/robot2016/Teleop.java b/src/org/usfirst/frc/team4272/robot2016/Teleop.java
index 7b3ca55..e69c8f0 100644
--- a/src/org/usfirst/frc/team4272/robot2016/Teleop.java
+++ b/src/org/usfirst/frc/team4272/robot2016/Teleop.java
@@ -3,7 +3,6 @@ package org.usfirst.frc.team4272.robot2016;
//import org.usfirst.frc.team4272.robotlib.PushButton;
import org.usfirst.frc.team4272.robotlib.Xbox360Controller.Axis;
import org.usfirst.frc.team4272.robotlib.Xbox360Controller.Button;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj.Joystick;
public class Teleop {
@@ -40,10 +39,8 @@ public class Teleop {
- 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;
+ control.bBall = control.bBall < 0 ? 0.75*control.bBall : control.bBall;
- SmartDashboard.putNumber("fBall", control.fBall);
- SmartDashboard.putNumber("bBall", control.bBall);
/* Take pictures */
/*