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authorLuke Shumaker <lukeshu@lukeshu.com>2017-04-08 08:35:22 -0400
committerLuke Shumaker <lukeshu@lukeshu.com>2017-04-08 08:35:22 -0400
commit5e4951e6d60308c39a6f0c1539cf2e793ff5f958 (patch)
tree862b8272f3aa36cf1dd285dcc6be112a1f026f1b
parent3949e64c7707b53081a60daaf8e1118ebee41ea7 (diff)
revise climber controls
-rw-r--r--src/org/usfirst/frc/team4272/robot2017/HwRobot.java2
-rw-r--r--src/org/usfirst/frc/team4272/robot2017/Teleop.java4
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 */