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authorLuke Shumaker <lukeshu@sbcglobal.net>2016-01-31 15:12:47 -0500
committerLuke Shumaker <lukeshu@sbcglobal.net>2016-01-31 15:12:47 -0500
commit582f062811d298efc6a0d4c09ca746a240a96220 (patch)
treeb3887fa6181200bfd40955325beab9c7843eb660 /src/org/usfirst
parent894d9ddd315c058b8ede29dc8fadba742ca148af (diff)
Only run one set of drive motors unless triggers are pulled (to save power)
Diffstat (limited to 'src/org/usfirst')
-rw-r--r--src/org/usfirst/frc/team4272/robot2016/Control.java12
-rw-r--r--src/org/usfirst/frc/team4272/robot2016/HwRobot.java10
-rw-r--r--src/org/usfirst/frc/team4272/robot2016/Teleop.java6
3 files changed, 18 insertions, 10 deletions
diff --git a/src/org/usfirst/frc/team4272/robot2016/Control.java b/src/org/usfirst/frc/team4272/robot2016/Control.java
index d7eadf5..40fcb5a 100644
--- a/src/org/usfirst/frc/team4272/robot2016/Control.java
+++ b/src/org/usfirst/frc/team4272/robot2016/Control.java
@@ -1,9 +1,13 @@
package org.usfirst.frc.team4272.robot2016;
public class Control {
- double lDrive, rDrive, fBall, bBall, arm;
+ double lDrive1 = 0,
+ lDrive2 = 0,
+ rDrive1 = 0,
+ rDrive2 = 0,
+ fBall = 0,
+ bBall = 0,
+ arm = 0;
- public Control() {
- lDrive = rDrive = fBall = bBall = arm = 0;
- }
+ public Control() {}
}
diff --git a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
index 90eafe1..62b71c5 100644
--- a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
+++ b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
@@ -29,8 +29,8 @@ public class HwRobot {
//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 lDriveM1 = new Talon(/*PWM*/0), lDriveM2 = new Talon(/*PWM*/1);
+ private PIDOutput rDriveM1 = new Talon(/*PWM*/2), rDriveM2 = 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));
@@ -41,8 +41,10 @@ public class HwRobot {
}
public void run(Control c) {
- lDriveM.pidWrite( c.lDrive);
- rDriveM.pidWrite(-c.rDrive);
+ lDriveM1.pidWrite( c.lDrive1);
+ lDriveM2.pidWrite( c.lDrive2);
+ rDriveM1.pidWrite(-c.rDrive1);
+ rDriveM2.pidWrite(-c.rDrive2);
armM.pidWrite(-c.arm);
fBallM.pidWrite(-c.fBall);
bBallM.pidWrite(-c.bBall);
diff --git a/src/org/usfirst/frc/team4272/robot2016/Teleop.java b/src/org/usfirst/frc/team4272/robot2016/Teleop.java
index 0de200d..b082adb 100644
--- a/src/org/usfirst/frc/team4272/robot2016/Teleop.java
+++ b/src/org/usfirst/frc/team4272/robot2016/Teleop.java
@@ -28,8 +28,10 @@ public class Teleop {
public Control run(Control control, HwOI oi) {
/* Drive */
- control.lDrive = jsScale(oi.lStick);
- control.rDrive = jsScale(oi.rStick);
+ control.lDrive1 = jsScale(oi.lStick);
+ control.rDrive1 = jsScale(oi.rStick);
+ control.lDrive2 = oi.lStick.getTrigger() ? control.lDrive1 : 0;
+ control.rDrive2 = oi.rStick.getTrigger() ? control.rDrive1 : 0;
control.arm = -oi.xbox.getAxis(Axis.LY);
control.fBall = bound(-1, oi.xbox.getAxis(Axis.RTrigger) - oi.xbox.getAxis(Axis.LTrigger), 1);
control.bBall = bound(-1,