diff options
Diffstat (limited to 'src/org/usfirst/frc/team4272/robot2016/HwRobot.java')
| -rw-r--r-- | src/org/usfirst/frc/team4272/robot2016/HwRobot.java | 24 |
1 files changed, 12 insertions, 12 deletions
diff --git a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java index b2c7150..22d2fc7 100644 --- a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java +++ b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java @@ -2,9 +2,9 @@ package org.usfirst.frc.team4272.robot2016; import org.usfirst.frc.team4272.robotlib.PIDOutputSplitter; -import edu.wpi.first.wpilibj.Encoder; +//import edu.wpi.first.wpilibj.Encoder; import edu.wpi.first.wpilibj.PIDOutput; -import edu.wpi.first.wpilibj.PIDSourceType; +//import edu.wpi.first.wpilibj.PIDSourceType; import edu.wpi.first.wpilibj.Talon; public class HwRobot { @@ -27,23 +27,23 @@ public class HwRobot { // naming convention: {side_letter}{Thing}{E|M (encoder/motor)} - public Encoder lDriveE = new Encoder(/*DIO*/2,/*DIO*/3); - private PIDOutput lDriveM = new PIDOutputSplitter(new Talon(/*PWM*/0), - new Talon(/*PWM*/1)); - public Encoder rDriveE = new Encoder(/*DIO*/0,/*DIO*/1, true); - private PIDOutput rDriveM = new PIDOutputSplitter(new Talon(/*PWM*/2), - new Talon(/*PWM*/3)); - private PIDOutput fBallM = new PIDOutputSplitter(new Talon(/*PWM*/4), new Talon(/*PWM*/5)); - private PIDOutput bBallM = new PIDOutputSplitter(new Talon(/*PWM*/6), new Talon(/*PWM*/7)); + //public Encoder lDriveE = new Encoder(/*DIO*/2,/*DIO*/3); + //public Encoder rDriveE = new Encoder(/*DIO*/0,/*DIO*/1, true); + private PIDOutput lDriveM = new PIDOutputSplitter(new Talon(/*PWM*/0), new Talon(/*PWM*/1)); + private PIDOutput rDriveM = new PIDOutputSplitter(new Talon(/*PWM*/2), new Talon(/*PWM*/3)); + private PIDOutput armM = new PIDOutputSplitter(new Talon(/*PWM*/4), new Talon(/*PWM*/5)); + private PIDOutput fBallM = new PIDOutputSplitter(new Talon(/*PWM*/6), new Talon(/*PWM*/7)); + private PIDOutput bBallM = new PIDOutputSplitter(new Talon(/*PWM*/8), new Talon(/*PWM*/9)); public HwRobot() { - lDriveE.setPIDSourceType(PIDSourceType.kRate); - rDriveE.setPIDSourceType(PIDSourceType.kRate); + //lDriveE.setPIDSourceType(PIDSourceType.kRate); + //rDriveE.setPIDSourceType(PIDSourceType.kRate); } public void run(Control c) { lDriveM.pidWrite( c.lDrive); rDriveM.pidWrite(-c.rDrive); + armM.pidWrite(-c.arm); fBallM.pidWrite(c.fBall); bBallM.pidWrite(c.bBall); } |