diff options
| author | Luke Shumaker <lukeshu@lukeshu.com> | 2017-04-08 08:35:22 -0400 |
|---|---|---|
| committer | Luke Shumaker <lukeshu@lukeshu.com> | 2017-04-08 08:35:22 -0400 |
| commit | 5e4951e6d60308c39a6f0c1539cf2e793ff5f958 (patch) | |
| tree | 862b8272f3aa36cf1dd285dcc6be112a1f026f1b | |
| parent | 3949e64c7707b53081a60daaf8e1118ebee41ea7 (diff) | |
revise climber controls
| -rw-r--r-- | src/org/usfirst/frc/team4272/robot2017/HwRobot.java | 2 | ||||
| -rw-r--r-- | src/org/usfirst/frc/team4272/robot2017/Teleop.java | 4 |
2 files changed, 3 insertions, 3 deletions
diff --git a/src/org/usfirst/frc/team4272/robot2017/HwRobot.java b/src/org/usfirst/frc/team4272/robot2017/HwRobot.java index 23e5c34..2ef5dae 100644 --- a/src/org/usfirst/frc/team4272/robot2017/HwRobot.java +++ b/src/org/usfirst/frc/team4272/robot2017/HwRobot.java @@ -98,7 +98,7 @@ public class HwRobot { public void run(Control c) { lDriveM.pidWrite(-c.lDrive); rDriveM.pidWrite(c.rDrive); - climber.pidWrite(c.climber); + climber.pidWrite(Math.abs(c.climber)); shifter.set(c.highGear ? DoubleSolenoid.Value.kForward : DoubleSolenoid.Value.kReverse); ged.set(c.gedOut ? DoubleSolenoid.Value.kReverse : DoubleSolenoid.Value.kForward); diff --git a/src/org/usfirst/frc/team4272/robot2017/Teleop.java b/src/org/usfirst/frc/team4272/robot2017/Teleop.java index b55a42b..4eae31d 100644 --- a/src/org/usfirst/frc/team4272/robot2017/Teleop.java +++ b/src/org/usfirst/frc/team4272/robot2017/Teleop.java @@ -89,8 +89,8 @@ public class Teleop { /* climber */ control.climber = oi.xbox.getY(Hand.kLeft); - if (control.climber <= 0.2) { - control.climber = 0; + if (oi.xbox.getTriggerAxis(Hand.kLeft) > 0.5) { + control.climber = 0.2; } /* GED */ |