diff options
Diffstat (limited to 'src/org/usfirst/frc/team4272/robot2016/Teleop.java')
| -rw-r--r-- | src/org/usfirst/frc/team4272/robot2016/Teleop.java | 25 |
1 files changed, 14 insertions, 11 deletions
diff --git a/src/org/usfirst/frc/team4272/robot2016/Teleop.java b/src/org/usfirst/frc/team4272/robot2016/Teleop.java index e69c8f0..cafbca1 100644 --- a/src/org/usfirst/frc/team4272/robot2016/Teleop.java +++ b/src/org/usfirst/frc/team4272/robot2016/Teleop.java @@ -1,14 +1,14 @@ 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.Joystick; public class Teleop { - //private PushButton camButton = new PushButton(); + private final HwRobot robot; - public Teleop() { + public Teleop(HwRobot robot) { + this.robot = robot; } private static double jsScale(Joystick j) { @@ -32,15 +32,18 @@ public class Teleop { control.lDrive2 = oi.lStick.getTrigger() ? control.lDrive1 : 0; control.rDrive2 = oi.rStick.getTrigger() ? control.rDrive1 : 0; control.arm = -oi.xbox.getAxis(Axis.LY); - control.fBall = bound(-1, oi.xbox.getAxis(Axis.RTrigger) - oi.xbox.getAxis(Axis.LTrigger), 1); - control.bBall = bound(-1, - bound(-1, control.fBall, 0) - + 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 ? 0.75*control.bBall : control.bBall; + double fBall = oi.xbox.getAxis(Axis.RTrigger) - oi.xbox.getAxis(Axis.LTrigger); + double bBall = bound(-1, fBall, 0) + oneIf(oi.xbox.getButton(Button.A)) - oneIf(oi.xbox.getButton(Button.B)); + + boolean ballL = false; //robot.ballL.get(); + control.fBall = bound(-oneIf(!ballL), fBall, 1); + control.bBall = bound(-oneIf(!ballL), bBall < 0 ? 0.75*bBall : bBall, 1); + + /* I'm eyeballing 10 degrees ≈ 50 clicks */ + //if (robot.armE.pidGet() < 50 && robot.armL.get()) { + // robot.armE.reset(); + //} /* Take pictures */ /* |