diff options
| -rw-r--r-- | src/org/usfirst/frc/team4272/robot2016/Teleop.java | 8 |
1 files changed, 5 insertions, 3 deletions
diff --git a/src/org/usfirst/frc/team4272/robot2016/Teleop.java b/src/org/usfirst/frc/team4272/robot2016/Teleop.java index c7029f4..73b7b60 100644 --- a/src/org/usfirst/frc/team4272/robot2016/Teleop.java +++ b/src/org/usfirst/frc/team4272/robot2016/Teleop.java @@ -39,13 +39,15 @@ public class Teleop { control.lDrive2 = oi.lStick.getTrigger() ? control.lDrive1 : 0; control.rDrive2 = oi.rStick.getTrigger() ? control.rDrive1 : 0; control.arm = -oi.xbox.getAxis(Axis.LY); - + if (control.arm < 0) + control.arm = control.arm*0.2; + double fBall = oi.xbox.getAxis(Axis.RTrigger) - oi.xbox.getAxis(Axis.LTrigger); double bBall = bound(-1, fBall, 0) + oneIf(oi.xbox.getButton(Button.A)) - oneIf(oi.xbox.getButton(Button.B)); boolean ballL = robot.ballL.get(); - control.fBall = bound(-oneIf(ballL), fBall < 0 ? 0.75*fBall : fBall, 1); - control.bBall = bound(-oneIf(ballL), bBall < 0 ? 0.85*bBall : bBall, 1); + control.fBall = bound(-oneIf(ballL), fBall < 0 ? 0.5*fBall : fBall, 1); + control.bBall = bound(-oneIf(ballL), bBall < 0 ? 0.5*bBall : bBall, 1); /* I'm eyeballing 10 degrees ≈ 50 clicks */ if (robot.armE.pidGet() < 50 && !robot.armL.get()) { |