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authorLuke Shumaker <lukeshu@sbcglobal.net>2015-02-28 15:18:43 -0500
committerLuke Shumaker <lukeshu@sbcglobal.net>2015-02-28 15:18:43 -0500
commit2fd56d5789e4bad4aaacda1133191491367f66dd (patch)
tree893359f0bbb9eeb41bc0b8b90241e9268ee02999 /src/org/usfirst/frc/team4272/robotlib
parent74b7077270fdd9d4d7a6eca0bb7011283ae999a8 (diff)
stuff
Diffstat (limited to 'src/org/usfirst/frc/team4272/robotlib')
-rw-r--r--src/org/usfirst/frc/team4272/robotlib/LimitSwitchedPIDOutput.java30
1 files changed, 12 insertions, 18 deletions
diff --git a/src/org/usfirst/frc/team4272/robotlib/LimitSwitchedPIDOutput.java b/src/org/usfirst/frc/team4272/robotlib/LimitSwitchedPIDOutput.java
index 73073c2..aa3aeaf 100644
--- a/src/org/usfirst/frc/team4272/robotlib/LimitSwitchedPIDOutput.java
+++ b/src/org/usfirst/frc/team4272/robotlib/LimitSwitchedPIDOutput.java
@@ -6,33 +6,27 @@ import edu.wpi.first.wpilibj.PIDOutput;
public class LimitSwitchedPIDOutput implements PIDOutput {
private final PIDOutput out;
private final DigitalInput forward;
- private final DigitalInput backward;
- private final boolean i_dont_know_which_way_is_which;
+ private final DigitalInput bakward;
+ private final boolean for_pressed;
+ private final boolean bak_pressed;
- public LimitSwitchedPIDOutput(PIDOutput out, DigitalInput forward, DigitalInput backward, boolean i_dont_know_which_way_is_which) {
+ public LimitSwitchedPIDOutput(PIDOutput out,
+ DigitalInput forward, boolean for_pressed,
+ DigitalInput backward, boolean back_pressed) {
this.out = out;
this.forward = forward;
- this.backward = backward;
- this.i_dont_know_which_way_is_which = i_dont_know_which_way_is_which;
+ this.bakward = backward;
+ this.for_pressed = for_pressed;
+ this.bak_pressed = back_pressed;
}
public LimitSwitchedPIDOutput(PIDOutput out, DigitalInput forward, DigitalInput backward) {
- this(out, forward,backward, false);
+ this(out, forward, true, backward, true);
}
public void pidWrite(double v) {
- if (i_dont_know_which_way_is_which) {
- if (forward.get() || backward.get()) {
- v = 0;
- }
- } else {
- if (forward.get()) {
- v = Math.min(v, 0);
- }
- if (backward.get()) {
- v = Math.max(v, 0);
- }
- }
+ if (forward.get() == for_pressed) { v = Math.min(v, 0); }
+ if (bakward.get() == bak_pressed) { v = Math.max(v, 0); }
out.pidWrite(v);
}
}