diff options
| -rw-r--r-- | src/org/usfirst/frc/team4272/robot2017/Autonomous.java | 5 | ||||
| -rw-r--r-- | src/org/usfirst/frc/team4272/robot2017/HwRobot.java | 12 |
2 files changed, 8 insertions, 9 deletions
diff --git a/src/org/usfirst/frc/team4272/robot2017/Autonomous.java b/src/org/usfirst/frc/team4272/robot2017/Autonomous.java index 901e22a..021a00a 100644 --- a/src/org/usfirst/frc/team4272/robot2017/Autonomous.java +++ b/src/org/usfirst/frc/team4272/robot2017/Autonomous.java @@ -74,6 +74,11 @@ public class Autonomous { Command stop = c->{c.lDrive = c.rDrive = 0; return true;}; + modeChooser.addObject("Drive 10 feet", robot->new Command[]{ + init, + driveDistance(robot, 0.4, 10), + stop, + }); modeChooser.addObject("Center Peg", robot->new Command[]{ init, timeout(6.0, driveDistance(robot, 0.4, 8.75)), diff --git a/src/org/usfirst/frc/team4272/robot2017/HwRobot.java b/src/org/usfirst/frc/team4272/robot2017/HwRobot.java index cea46af..533cf9d 100644 --- a/src/org/usfirst/frc/team4272/robot2017/HwRobot.java +++ b/src/org/usfirst/frc/team4272/robot2017/HwRobot.java @@ -74,7 +74,6 @@ public class HwRobot { public final Encoder lDriveE = new Encoder(/*DIO*/0,/*DIO*/1, /*reverse*/false); public final Encoder rDriveE = new Encoder(/*DIO*/2,/*DIO*/3, /*reverse*/true); public final PIDSource lRate, rRate; - public final PowerDistributionPanel PDP = new PowerDistributionPanel(); /* via CAN */ public final DriverStation ds = DriverStation.getInstance(); public final double axleWidth = 2.0; // in feet @@ -89,18 +88,16 @@ public class HwRobot { lRate = new RollingAvg(5, lDriveE); rRate = new RollingAvg(5, rDriveE); - - PDP.initTable(NetworkTable.getTable("PDP")); } private double maxRate = 0; private double minBatt = 20; public void run(Control c) { - lDriveM.pidWrite(c.lDrive); - rDriveM.pidWrite(-c.rDrive); + lDriveM.pidWrite(-c.lDrive); + rDriveM.pidWrite(c.rDrive); climber.pidWrite(c.climber); - shifter.set(c.highGear ? DoubleSolenoid.Value.kReverse : DoubleSolenoid.Value.kForward); + shifter.set(c.highGear ? DoubleSolenoid.Value.kForward : DoubleSolenoid.Value.kReverse); ged.set(c.gedOut ? DoubleSolenoid.Value.kReverse : DoubleSolenoid.Value.kForward); double rate = Math.abs((lDriveE.getRate()+rDriveE.getRate())/2); @@ -121,8 +118,5 @@ public class HwRobot { SmartDashboard.putBoolean("highGear", c.highGear); SmartDashboard.putBoolean("gedOut", c.gedOut); - - PDP.updateTable(); - SmartDashboard.putData("PDP", PDP); } } |