diff options
| -rw-r--r-- | src/org/usfirst/frc/team4272/robot2016/HwRobot.java | 10 |
1 files changed, 9 insertions, 1 deletions
diff --git a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java index f120ee0..3306486 100644 --- a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java +++ b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java @@ -1,14 +1,17 @@ package org.usfirst.frc.team4272.robot2016; -import org.usfirst.frc.team4272.robotlib.PIDOutputSplitter; +import edu.wpi.first.wpilibj.networktables.NetworkTable; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj.DigitalInput; import edu.wpi.first.wpilibj.Encoder; import edu.wpi.first.wpilibj.PIDOutput; import edu.wpi.first.wpilibj.PIDSourceType; +import edu.wpi.first.wpilibj.PowerDistributionPanel; import edu.wpi.first.wpilibj.Talon; +import org.usfirst.frc.team4272.robotlib.PIDOutputSplitter; + public class HwRobot { /* Relay == a Spike */ /* PCM = Pneumatics Control Module */ @@ -40,11 +43,13 @@ public class HwRobot { public final DigitalInput ballL = new DigitalInput(/*DIO*/4); public final Encoder rDriveE = new Encoder(/*DIO*/5,/*DIO*/6); public final Encoder lDriveE = new Encoder(/*DIO*/7,/*DIO*/8, true); + public final PowerDistributionPanel PDP = new PowerDistributionPanel(); /* via CAN */ public HwRobot() { armE.setPIDSourceType(PIDSourceType.kDisplacement); lDriveE.setPIDSourceType(PIDSourceType.kRate); rDriveE.setPIDSourceType(PIDSourceType.kRate); + PDP.initTable(NetworkTable.getTable("PDP")); } public void run(Control c) { @@ -67,5 +72,8 @@ public class HwRobot { SmartDashboard.putNumber("rDriveE rate", rDriveE.getRate()); SmartDashboard.putBoolean("ballL", ballL.get()); SmartDashboard.putBoolean("armL", armL.get()); + + PDP.updateTable(); + SmartDashboard.putData("PDP", PDP); } } |