Changes sitting on the Dell.dell-1

3 files changed, 37 insertions, 16 deletions

diff --git a/src/org/usfirst/frc/team4272/robot2016/Control.java b/src/org/usfirst/frc/team4272/robot2016/Control.java
index 40fcb5a..9efdf34 100644
--- a/src/org/usfirst/frc/team4272/robot2016/Control.java
+++ b/src/org/usfirst/frc/team4272/robot2016/Control.java
@@ -7,7 +7,9 @@ public class Control {
 	       rDrive2 = 0,
 	       fBall   = 0,
 	       bBall   = 0,
-	       arm     = 0;
-
+	       arm     = 0,
+	camRotate = 0,
+	camTilt = 0;
+	boolean PCM = false;
 	public Control() {}
 }
diff --git a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
index e61d87f..e4e9b2f 100644
--- a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
+++ b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
@@ -9,8 +9,11 @@ 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 edu.wpi.first.wpilibj.Jaguar;
+import edu.wpi.first.wpilibj.Solenoid;
 
 import org.usfirst.frc.team4272.robotlib.PIDOutputSplitter;
+import org.usfirst.frc.team4272.robotlib.PIDServo;
 
 public class HwRobot {
 	/* Relay == a Spike */
@@ -33,15 +36,17 @@ 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 */
-	    lDriveM1 = new Talon(/*PWM*/1), /* PDP 12, 13 */
-	    lDriveM2 = new Talon(/*PWM*/0), /* PDP 11 */
-	    armM     = new Talon(/*PWM*/8), /* PDP 15 */
-	    rfBallM  = new Talon(/*PWM*/3), /* PDP 0 */
-	    lfBallM  = new Talon(/*PWM*/9), /* PDP 14 */
-	    fBallM   = new PIDOutputSplitter(rfBallM, lfBallM),
-	    bBallM   = new Talon(/*PWM*/6); /* PDP 10, 5 */
+	    rDriveM1 = new Jaguar(/*PWM*/0), /* PDP 2, 3 */
+	    rDriveM2 = new Jaguar(/*PWM*/1), /* PDP 4 */
+	    lDriveM1 = new Jaguar(/*PWM*/3), /* PDP 12, 13 */
+	    lDriveM2 = new Jaguar(2),/*PWM*/ /* PDP 11 */
+	    //armM     = new Talon(/*PWM*/8), /* PDP 15 */
+	    //rfBallM  = new Talon(/*PWM*/4), /* PDP 0 */
+	    //lfBallM  = new Talon(/*PWM*/9), /* PDP 14 */
+	    //fBallM   = new PIDOutputSplitter(rfBallM, lfBallM),
+	    //bBallM   = new Talon(/*PWM*/6),/* PDP 10, 5 */
+	    camRotate = new PIDServo(8),
+	    camTilt = new PIDServo(9);
 
 	public final Encoder   armE = new Encoder(/*DIO*/0, /*DIO*/1, /*DIO*/2, true);
 	public final DigitalInput armL = new DigitalInput(/*DIO*/3);
@@ -50,6 +55,8 @@ public class HwRobot {
 	public final Encoder   lDriveE = new Encoder(/*DIO*/7,/*DIO*/8, true);
 	public final PowerDistributionPanel PDP = new PowerDistributionPanel(); /* via CAN */
 
+	private final Solenoid PCM = new Solenoid(/*PCM*/ 0);
+
 	public HwRobot() {
 		armE.setPIDSourceType(PIDSourceType.kDisplacement);
 		lDriveE.setPIDSourceType(PIDSourceType.kRate);
@@ -62,10 +69,12 @@ public class HwRobot {
 		lDriveM2.pidWrite( c.lDrive2);
 		rDriveM1.pidWrite(-c.rDrive1);
 		rDriveM2.pidWrite(-c.rDrive2);
-		armM.pidWrite(c.arm * 0.5);
-		fBallM.pidWrite(-c.fBall);
-		bBallM.pidWrite(-c.bBall);
-
+		//armM.pidWrite(c.arm * 0.5);
+		//fBallM.pidWrite(-c.fBall);
+		//bBallM.pidWrite(-c.bBall);
+		camRotate.pidWrite(c.camRotate);
+		camTilt.pidWrite(c.camTilt);
+		PCM.set(c.PCM);
 		SmartDashboard.putNumber("fBall", c.fBall);
 		SmartDashboard.putNumber("bBall", c.bBall);
 		SmartDashboard.putNumber("armM", c.arm);
@@ -81,4 +90,5 @@ public class HwRobot {
 		PDP.updateTable();
 		SmartDashboard.putData("PDP", PDP);
 	}
+	
 }
diff --git a/src/org/usfirst/frc/team4272/robot2016/Teleop.java b/src/org/usfirst/frc/team4272/robot2016/Teleop.java
index 73b7b60..d07e5ce 100644
--- a/src/org/usfirst/frc/team4272/robot2016/Teleop.java
+++ b/src/org/usfirst/frc/team4272/robot2016/Teleop.java
@@ -74,8 +74,17 @@ public class Teleop {
 				control.fBall = 1;
 			}
 		}
+		
+		if(oi.xbox.getAxis(Axis.RTrigger) > 0)
+			control.camRotate = 1;
+		else if(oi.xbox.getAxis(Axis.LTrigger) > 0)
+			control.camRotate = -1;
+		else
+			control.camRotate = 0;
+		control.camTilt = oi.xbox.getAxis(Axis.RX);
 
-		//if (robot.armE.pidGet() > armSoftStop && control.arm > 0)
+		control.PCM = oi.xbox.getButton(Button.A);
+		//if (robot.armE.piedGet() > armSoftStop && control.arm > 0)
 		//	control.arm = 0;
 
 		/* Take pictures */