diff options
Diffstat (limited to 'src/org/usfirst/frc/team4272/robot2016/HwRobot.java')
| -rw-r--r-- | src/org/usfirst/frc/team4272/robot2016/HwRobot.java | 33 |
1 files changed, 22 insertions, 11 deletions
diff --git a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java index 4a02076..e61d87f 100644 --- a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java +++ b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java @@ -1,14 +1,17 @@ package org.usfirst.frc.team4272.robot2016; -import org.usfirst.frc.team4272.robotlib.PIDOutputSplitter; +import edu.wpi.first.wpilibj.networktables.NetworkTable; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj.DigitalInput; import edu.wpi.first.wpilibj.Encoder; import edu.wpi.first.wpilibj.PIDOutput; import edu.wpi.first.wpilibj.PIDSourceType; +import edu.wpi.first.wpilibj.PowerDistributionPanel; import edu.wpi.first.wpilibj.Talon; +import org.usfirst.frc.team4272.robotlib.PIDOutputSplitter; + public class HwRobot { /* Relay == a Spike */ /* PCM = Pneumatics Control Module */ @@ -29,7 +32,6 @@ public class HwRobot { // naming convention: {side_letter}{Thing}{E|M (encoder/motor)} - private final PIDOutput rDriveM1 = new Talon(/*PWM*/2), /* PDP 2, 3 */ rDriveM2 = new Talon(/*PWM*/4), /* PDP 4 */ @@ -41,33 +43,42 @@ public class HwRobot { fBallM = new PIDOutputSplitter(rfBallM, lfBallM), bBallM = new Talon(/*PWM*/6); /* PDP 10, 5 */ - public final Encoder armE = new Encoder(/*DIO*/0, /*DIO*/1, /*DIO*/2); + public final Encoder armE = new Encoder(/*DIO*/0, /*DIO*/1, /*DIO*/2, true); public final DigitalInput armL = new DigitalInput(/*DIO*/3); public final DigitalInput ballL = new DigitalInput(/*DIO*/4); - //public final Encoder lDriveE = new Encoder(/*DIO*/2,/*DIO*/3); - //public final Encoder rDriveE = new Encoder(/*DIO*/0,/*DIO*/1, true); + public final Encoder rDriveE = new Encoder(/*DIO*/5,/*DIO*/6); + public final Encoder lDriveE = new Encoder(/*DIO*/7,/*DIO*/8, true); + public final PowerDistributionPanel PDP = new PowerDistributionPanel(); /* via CAN */ public HwRobot() { - //lDriveE.setPIDSourceType(PIDSourceType.kRate); - //rDriveE.setPIDSourceType(PIDSourceType.kRate); armE.setPIDSourceType(PIDSourceType.kDisplacement); + lDriveE.setPIDSourceType(PIDSourceType.kRate); + rDriveE.setPIDSourceType(PIDSourceType.kRate); + PDP.initTable(NetworkTable.getTable("PDP")); } public void run(Control c) { - if (armE.pidGet() < -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 * 0.5); 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", armE.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()); + + PDP.updateTable(); + SmartDashboard.putData("PDP", PDP); } } |