diff options
| -rw-r--r-- | src/org/usfirst/frc/team4272/robot2016/HwRobot.java | 23 |
1 files changed, 15 insertions, 8 deletions
diff --git a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java index ebc4efc..4a02076 100644 --- a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java +++ b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java @@ -29,16 +29,23 @@ public class HwRobot { // naming convention: {side_letter}{Thing}{E|M (encoder/motor)} - //public final Encoder lDriveE = new Encoder(/*DIO*/2,/*DIO*/3); - //public final Encoder rDriveE = new Encoder(/*DIO*/0,/*DIO*/1, true); - private final PIDOutput lDriveM1 = new Talon(/*PWM*/1), lDriveM2 = new Talon(/*PWM*/0); - private final PIDOutput rDriveM1 = new Talon(/*PWM*/2), rDriveM2 = new Talon(/*PWM*/4); - private final PIDOutput armM = new Talon(/*PWM*/8); - public final Encoder armE = new Encoder(/*DIO*/0, /*DIO*/1, /*DIO*/2); - private final PIDOutput fBallM = new PIDOutputSplitter(new Talon(/*PWM*/9), new Talon(/*PWM*/3)); - private final PIDOutput bBallM = new PIDOutputSplitter(new Talon(/*PWM*/6), new Talon(/*PWM*/7)); + + private final PIDOutput + rDriveM1 = new Talon(/*PWM*/2), /* PDP 2, 3 */ + rDriveM2 = new Talon(/*PWM*/4), /* PDP 4 */ + lDriveM1 = new Talon(/*PWM*/1), /* PDP 12, 13 */ + lDriveM2 = new Talon(/*PWM*/0), /* PDP 11 */ + armM = new Talon(/*PWM*/8), /* PDP 15 */ + rfBallM = new Talon(/*PWM*/3), /* PDP 0 */ + lfBallM = new Talon(/*PWM*/9), /* PDP 14 */ + fBallM = new PIDOutputSplitter(rfBallM, lfBallM), + bBallM = new Talon(/*PWM*/6); /* PDP 10, 5 */ + + public final Encoder armE = new Encoder(/*DIO*/0, /*DIO*/1, /*DIO*/2); public final DigitalInput armL = new DigitalInput(/*DIO*/3); public final DigitalInput ballL = new DigitalInput(/*DIO*/4); + //public final Encoder lDriveE = new Encoder(/*DIO*/2,/*DIO*/3); + //public final Encoder rDriveE = new Encoder(/*DIO*/0,/*DIO*/1, true); public HwRobot() { //lDriveE.setPIDSourceType(PIDSourceType.kRate); |