stuff (from my laptop)

5 files changed, 24 insertions, 46 deletions

diff --git a/src/org/usfirst/frc/team4272/robot2016/Autonomous.java b/src/org/usfirst/frc/team4272/robot2016/Autonomous.java
index 4fab67f..295cba9 100644
--- a/src/org/usfirst/frc/team4272/robot2016/Autonomous.java
+++ b/src/org/usfirst/frc/team4272/robot2016/Autonomous.java
@@ -1,30 +1,13 @@
 package org.usfirst.frc.team4272.robot2016;
 
-import edu.wpi.first.wpilibj.Timer;
-
 public class Autonomous {
-	private final Timer time = new Timer();
 	private final HwRobot robot;
 
 	public Autonomous(HwRobot robot) {
 		this.robot = robot;
-		time.reset();
-		time.start();
-		robot.rDriveE.reset();
-		robot.lDriveE.reset();
 	}
 
 	public Control run(Control c) {
-		if (robot.rDriveE.getDistance() > -(15.5*140*1.15)) {
-			c.rDrive = c.lDrive = 0.7;
-			//initially -0.7 to drive backwards
-			//0 to 9787 for going backwards
-			//0 to negative for forward
-			//INDY: (15.5*140*1.1)
-			//PURDUE: (15.5*140*1.15) for a drop further
-		} else {
-			c.rDrive = c.lDrive = 0;
-		}
 		return c;
 	}
 }
diff --git a/src/org/usfirst/frc/team4272/robot2016/Control.java b/src/org/usfirst/frc/team4272/robot2016/Control.java
index b136e0c..d7eadf5 100644
--- a/src/org/usfirst/frc/team4272/robot2016/Control.java
+++ b/src/org/usfirst/frc/team4272/robot2016/Control.java
@@ -1,9 +1,9 @@
 package org.usfirst.frc.team4272.robot2016;
 
 public class Control {
-	double lDrive, rDrive, fBall, bBall;
+	double lDrive, rDrive, fBall, bBall, arm;
 
 	public Control() {
-		lDrive = rDrive = fBall = bBall = 0;
+		lDrive = rDrive = fBall = bBall = arm = 0;
 	}
 }
diff --git a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
index b2c7150..a59ecb1 100644
--- a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
+++ b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
@@ -27,24 +27,24 @@ public class HwRobot {
 
 	// naming convention: {side_letter}{Thing}{E|M (encoder/motor)}
 
-	public Encoder   lDriveE = new Encoder(/*DIO*/2,/*DIO*/3);
-	private PIDOutput lDriveM = new PIDOutputSplitter(new Talon(/*PWM*/0),
-	                                                 new Talon(/*PWM*/1));
-	public Encoder   rDriveE = new Encoder(/*DIO*/0,/*DIO*/1, true);
-	private PIDOutput rDriveM = new PIDOutputSplitter(new Talon(/*PWM*/2),
-	                                                 new Talon(/*PWM*/3));
-	private PIDOutput fBallM = new PIDOutputSplitter(new Talon(/*PWM*/4), new Talon(/*PWM*/5));
-	private PIDOutput bBallM = new PIDOutputSplitter(new Talon(/*PWM*/6), new Talon(/*PWM*/7));
+	//public Encoder   lDriveE = new Encoder(/*DIO*/2,/*DIO*/3);
+	//public Encoder   rDriveE = new Encoder(/*DIO*/0,/*DIO*/1, true);
+	private PIDOutput lDriveM = new PIDOutputSplitter(new Talon(/*PWM*/0), new Talon(/*PWM*/1));
+	private PIDOutput rDriveM = new PIDOutputSplitter(new Talon(/*PWM*/2), new Talon(/*PWM*/3));
+	private PIDOutput armM    = new PIDOutputSplitter(new Talon(/*PWM*/4), new Talon(/*PWM*/5));
+	private PIDOutput fBallM  = new PIDOutputSplitter(new Talon(/*PWM*/6), new Talon(/*PWM*/7));
+	private PIDOutput bBallM  = new PIDOutputSplitter(new Talon(/*PWM*/8), new Talon(/*PWM*/9));
 
 	public HwRobot() {
-		lDriveE.setPIDSourceType(PIDSourceType.kRate);
-		rDriveE.setPIDSourceType(PIDSourceType.kRate);
+		//lDriveE.setPIDSourceType(PIDSourceType.kRate);
+		//rDriveE.setPIDSourceType(PIDSourceType.kRate);
 	}
 
 	public void run(Control c) {
 		lDriveM.pidWrite( c.lDrive);
 		rDriveM.pidWrite(-c.rDrive);
-		fBallM.pidWrite(c.fBall);
-		bBallM.pidWrite(c.bBall);
+		armM.pidWrite(-c.arm);
+		fBallM.pidWrite(-c.fBall);
+		bBallM.pidWrite(-c.bBall);
 	}
 }
diff --git a/src/org/usfirst/frc/team4272/robot2016/Robot.java b/src/org/usfirst/frc/team4272/robot2016/Robot.java
index c9ad4c5..fc2eef6 100644
--- a/src/org/usfirst/frc/team4272/robot2016/Robot.java
+++ b/src/org/usfirst/frc/team4272/robot2016/Robot.java
@@ -37,7 +37,6 @@ public class Robot extends IterativeRobot {
 
 	public void teleopInit() {
 		try {
-			robot.rDriveE.reset();
 			teleop = new Teleop();
 		} catch (Exception e) {}
 	}
diff --git a/src/org/usfirst/frc/team4272/robot2016/Teleop.java b/src/org/usfirst/frc/team4272/robot2016/Teleop.java
index 4853162..8c6e73b 100644
--- a/src/org/usfirst/frc/team4272/robot2016/Teleop.java
+++ b/src/org/usfirst/frc/team4272/robot2016/Teleop.java
@@ -1,6 +1,7 @@
 package org.usfirst.frc.team4272.robot2016;
 
 import org.usfirst.frc.team4272.robotlib.PushButton;
+import org.usfirst.frc.team4272.robotlib.Xbox360Controller.Axis;
 import org.usfirst.frc.team4272.robotlib.Xbox360Controller.Button;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj.Joystick;
@@ -21,24 +22,18 @@ public class Teleop {
 		/* Drive */
 		control.lDrive = jsScale(oi.lStick);
 		control.rDrive = jsScale(oi.rStick);
-
-		/* Ball intake/shooter */
-		if (oi.lStick.getTrigger()) {
-			/* intake */
-			control.fBall = control.bBall = -SmartDashboard.getNumber("intakeSpeed");
-		} else if (oi.rStick.getTrigger()) {
-			/* outtake */
-			control.fBall = 1;
-			if (oi.rStick.getRawButton(3)) {
-				control.bBall = 1;
-			} else {
-				control.bBall = 0;
-			}
+		control.arm = -oi.xbox.getAxis(Axis.LY);
+		control.fBall = oi.xbox.getAxis(Axis.RTrigger) - oi.xbox.getAxis(Axis.LTrigger);
+		if (control.fBall < -0.1) {
+			control.bBall = -1;
 		} else {
-			control.fBall = control.bBall = 0;
+			control.bBall = oi.xbox.getButton(Button.A) ? 1 : 0;
 		}
 
+		SmartDashboard.putNumber("fBall", control.fBall);
+
 		/* Take pictures */
+		/*
 		if (camButton.update(oi.xbox.getButton(Button.RT))) {
 			try {
 				ProcessBuilder pb = new ProcessBuilder("/home/lvuser/tweeterbot/bin/snapPhoto");
@@ -46,6 +41,7 @@ public class Teleop {
 				pb.start();
 			} catch (Exception e) {};
 		}
+		*/
 
 		return control;
 	}