diff options
| author | Luke Shumaker <lukeshu@sbcglobal.net> | 2016-03-13 09:14:47 -0400 |
|---|---|---|
| committer | Luke Shumaker <lukeshu@sbcglobal.net> | 2016-03-13 09:14:47 -0400 |
| commit | 28552a1bb8104f6ef0a8d9360fdb6562efc27578 (patch) | |
| tree | b2fe99f48b511fd47fac449c9bd34ac386e0f8f2 | |
| parent | 9c425fc33c6d579b448ecebf8c3003ad13ad2013 (diff) | |
saturday
| -rw-r--r-- | src/org/usfirst/frc/team4272/robot2016/Autonomous.java | 15 | ||||
| -rw-r--r-- | src/org/usfirst/frc/team4272/robot2016/HwRobot.java | 4 | ||||
| -rw-r--r-- | src/org/usfirst/frc/team4272/robot2016/Teleop.java | 4 |
3 files changed, 18 insertions, 5 deletions
diff --git a/src/org/usfirst/frc/team4272/robot2016/Autonomous.java b/src/org/usfirst/frc/team4272/robot2016/Autonomous.java index 1d61448..756c33d 100644 --- a/src/org/usfirst/frc/team4272/robot2016/Autonomous.java +++ b/src/org/usfirst/frc/team4272/robot2016/Autonomous.java @@ -1,20 +1,33 @@ package org.usfirst.frc.team4272.robot2016; +import edu.wpi.first.wpilibj.Timer; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; + public class Autonomous { + private final Timer time = new Timer(); private final HwRobot robot; public Autonomous(HwRobot robot) { this.robot = robot; + time.reset(); + time.start(); } public Control run(Control c) { if (robot.armL.get()) { - c.arm = -0.2; + c.arm = -0.5; } else { c.arm = 0; robot.armE.reset(); } + if (time.get() < 4) { + c.lDrive1 = c.rDrive1 = -0.4; + } else { + c.lDrive1 = c.rDrive1 = 0; + } + SmartDashboard.putNumber("autoTime", time.get()); + return c; } } diff --git a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java index 7d63f86..71b13ed 100644 --- a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java +++ b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java @@ -33,7 +33,7 @@ public class HwRobot { private final PIDOutput rDriveM1 = new Talon(/*PWM*/2), rDriveM2 = new Talon(/*PWM*/4); private final PIDOutput armM = new Talon(/*PWM*/8); private final PIDOutput fBallM = new PIDOutputSplitter(new Talon(/*PWM*/9), new Talon(/*PWM*/3)); - private final PIDOutput bBallM = new PIDOutputSplitter(new Talon(/*PWM*/6), new Talon(/*PWM*/7)); + private final PIDOutput bBallM = new Talon(/*PWM*/6); public final Encoder armE = new Encoder(/*DIO*/0, /*DIO*/1, /*DIO*/2, true); public final DigitalInput armL = new DigitalInput(/*DIO*/3); @@ -52,7 +52,7 @@ public class HwRobot { 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); diff --git a/src/org/usfirst/frc/team4272/robot2016/Teleop.java b/src/org/usfirst/frc/team4272/robot2016/Teleop.java index 19dfc6e..56e2dc7 100644 --- a/src/org/usfirst/frc/team4272/robot2016/Teleop.java +++ b/src/org/usfirst/frc/team4272/robot2016/Teleop.java @@ -39,8 +39,8 @@ public class Teleop { double bBall = bound(-1, fBall, 0) + oneIf(oi.xbox.getButton(Button.A)) - oneIf(oi.xbox.getButton(Button.B)); boolean ballL = robot.ballL.get(); - control.fBall = bound(-oneIf(ballL), fBall, 1); - control.bBall = bound(-oneIf(ballL), bBall < 0 ? 0.75*bBall : bBall, 1); + control.fBall = bound(-oneIf(ballL), fBall < 0 ? 0.75*fBall : fBall, 1); + control.bBall = bound(-oneIf(ballL), bBall < 0 ? 0.85*bBall : bBall, 1); /* I'm eyeballing 10 degrees ≈ 50 clicks */ if (robot.armE.pidGet() < 50 && !robot.armL.get()) { |