diff options
Diffstat (limited to 'src/org/usfirst/frc/team4272/robot2015/HwRobot.java')
| -rw-r--r-- | src/org/usfirst/frc/team4272/robot2015/HwRobot.java | 10 |
1 files changed, 4 insertions, 6 deletions
diff --git a/src/org/usfirst/frc/team4272/robot2015/HwRobot.java b/src/org/usfirst/frc/team4272/robot2015/HwRobot.java index 22a7afc..cab834e 100644 --- a/src/org/usfirst/frc/team4272/robot2015/HwRobot.java +++ b/src/org/usfirst/frc/team4272/robot2015/HwRobot.java @@ -1,6 +1,5 @@ package org.usfirst.frc.team4272.robot2015; -import org.mckenzierobotics.lib.robot.PIDController; import org.mckenzierobotics.lib.robot.PIDOutputSplitter; import org.usfirst.frc.team4272.robotlib.DoubleSolenoid; import org.usfirst.frc.team4272.robotlib.LimitSwitchedPIDOutput; @@ -55,18 +54,17 @@ public class HwRobot { public PIDOutput rDriveM = new PIDOutputSplitter(new Talon(/*PWM*/2), new Talon(/*PWM*/3)); public Encoder winchE = new Encoder(/*DIO*/4,/*DIO*/5);//), + public static DigitalInput winchT = new DigitalInput(/*DIO*/6); + public static DigitalInput winchB = new DigitalInput(/*DIO*/7); public PIDOutput winchM = new LimitSwitchedPIDOutput( new PIDOutputSplitter(new Talon(/*PWM*/4), new Talon(/*PWM*/5)), - /*bottom*/new DigitalInput(/*DIO*/6), - /*top*/ new DigitalInput(/*DIO*/7), - true); + winchT, false, winchB, false); public DoubleSolenoid grab = new DoubleSolenoid(/*PCM*/2,/*PCM*/3); public DoubleSolenoid push = new DoubleSolenoid(/*PCM*/0,/*PCM*/1); public Relay lIntake = new Relay(/*Relay*/1, Relay.Direction.kBoth); public Relay rIntake = new Relay(/*Relay*/0, Relay.Direction.kBoth); - public Relay lights = new Relay(/*Relay*/2, Relay.Direction.kForward); - + public HwRobot() { lDriveE.setPIDSourceParameter(PIDSourceParameter.kRate); rDriveE.setPIDSourceParameter(PIDSourceParameter.kRate); |