diff options
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; } |