diff options
| -rw-r--r-- | src/org/usfirst/frc/team4272/robot2016/HwRobot.java | 6 | ||||
| -rw-r--r-- | src/org/usfirst/frc/team4272/robot2016/Teleop.java | 23 |
2 files changed, 26 insertions, 3 deletions
diff --git a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java index 71b13ed..f120ee0 100644 --- a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java +++ b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java @@ -61,8 +61,10 @@ public class HwRobot { SmartDashboard.putNumber("armM", c.arm); SmartDashboard.putNumber("armE", armE.pidGet()); - SmartDashboard.putNumber("lDriveE", lDriveE.pidGet()); - SmartDashboard.putNumber("rDriveE", rDriveE.pidGet()); + SmartDashboard.putNumber("lDriveE distance", lDriveE.getDistance()); + SmartDashboard.putNumber("lDriveE rate", lDriveE.getRate()); + SmartDashboard.putNumber("rDriveE distance", rDriveE.getDistance()); + SmartDashboard.putNumber("rDriveE rate", rDriveE.getRate()); SmartDashboard.putBoolean("ballL", ballL.get()); SmartDashboard.putBoolean("armL", armL.get()); } diff --git a/src/org/usfirst/frc/team4272/robot2016/Teleop.java b/src/org/usfirst/frc/team4272/robot2016/Teleop.java index 56e2dc7..c7029f4 100644 --- a/src/org/usfirst/frc/team4272/robot2016/Teleop.java +++ b/src/org/usfirst/frc/team4272/robot2016/Teleop.java @@ -1,13 +1,18 @@ package org.usfirst.frc.team4272.robot2016; +import edu.wpi.first.wpilibj.Joystick; +import edu.wpi.first.wpilibj.Timer; import org.usfirst.frc.team4272.robotlib.Xbox360Controller.Axis; import org.usfirst.frc.team4272.robotlib.Xbox360Controller.Button; -import edu.wpi.first.wpilibj.Joystick; +import org.usfirst.frc.team4272.robotlib.PushButton; public class Teleop { private final HwRobot robot; private final double armSoftStop = 95;//295; + private final PushButton shootButton = new PushButton(); + private final Timer time = new Timer(); + public Teleop(HwRobot robot) { this.robot = robot; robot.armE.reset(); @@ -52,6 +57,22 @@ public class Teleop { else if (oi.xbox.getButton(Button.RBumper)) control.arm = robot.armE.pidGet()/armSoftStop; + if (shootButton.update(oi.xbox.getButton(Button.X))) { + time.reset(); + time.start(); + } + if (oi.xbox.getButton(Button.X)) { + if (time.get() < 0.5) { + control.fBall = control.bBall = -0.5; + } else if (time.get() < 2.5) { + control.bBall = -0.5; + control.fBall = 1; + } else { + control.bBall = 1; + control.fBall = 1; + } + } + //if (robot.armE.pidGet() > armSoftStop && control.arm > 0) // control.arm = 0; |