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authorLuke Shumaker <lukeshu@sbcglobal.net>2016-02-17 16:12:19 -0500
committerLuke Shumaker <lukeshu@sbcglobal.net>2016-02-17 16:12:19 -0500
commit363e1299ff558f62aba9e6b52fff646b4eb61426 (patch)
treeea506ff28bbda97792636155d95cf80fb192e8bf /src
parent12424bac0dff285f21e4da3a227ba1569c2044b2 (diff)
from monday
Diffstat (limited to 'src')
-rw-r--r--src/org/usfirst/frc/team4272/robot2016/HwRobot.java4
-rw-r--r--src/org/usfirst/frc/team4272/robot2016/Teleop.java2
2 files changed, 4 insertions, 2 deletions
diff --git a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
index 3ee3de0..0eb95fd 100644
--- a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
+++ b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
@@ -32,8 +32,8 @@ public class HwRobot {
private PIDOutput lDriveM1 = new Talon(/*PWM*/1), lDriveM2 = new Talon(/*PWM*/0);
private PIDOutput rDriveM1 = new Talon(/*PWM*/2), rDriveM2 = new Talon(/*PWM*/4);
private PIDOutput armM = new Talon(/*PWM*/8);
- private PIDOutput fBallM = new PIDOutputSplitter(new Talon(/*PWM*/9), new Talon(/*PWM*/6));
- private PIDOutput bBallM = new PIDOutputSplitter(new Talon(/*PWM*/3), new Talon(/*PWM*/7));
+ private PIDOutput fBallM = new PIDOutputSplitter(new Talon(/*PWM*/9), new Talon(/*PWM*/3));
+ private PIDOutput bBallM = new PIDOutputSplitter(new Talon(/*PWM*/6), new Talon(/*PWM*/7));
public HwRobot() {
//lDriveE.setPIDSourceType(PIDSourceType.kRate);
diff --git a/src/org/usfirst/frc/team4272/robot2016/Teleop.java b/src/org/usfirst/frc/team4272/robot2016/Teleop.java
index b082adb..7b3ca55 100644
--- a/src/org/usfirst/frc/team4272/robot2016/Teleop.java
+++ b/src/org/usfirst/frc/team4272/robot2016/Teleop.java
@@ -39,6 +39,8 @@ public class Teleop {
+ oneIf(oi.xbox.getButton(Button.A))
- oneIf(oi.xbox.getButton(Button.B)),
1);
+ control.fBall = control.fBall < 0 ? 0.5*control.fBall : control.fBall;
+ control.bBall = control.bBall < 0 ? 0.5*control.bBall : control.bBall;
SmartDashboard.putNumber("fBall", control.fBall);
SmartDashboard.putNumber("bBall", control.bBall);