diff options
Diffstat (limited to 'src/org/usfirst/frc/team4272/robot2016/HwRobot.java')
| -rw-r--r-- | src/org/usfirst/frc/team4272/robot2016/HwRobot.java | 27 |
1 files changed, 6 insertions, 21 deletions
diff --git a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java index 9b3e4e1..da4c1b4 100644 --- a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java +++ b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java @@ -1,14 +1,10 @@ package org.usfirst.frc.team4272.robot2016; import org.mckenzierobotics.lib.robot.PIDOutputSplitter; -import org.usfirst.frc.team4272.robotlib.DoubleSolenoid; -import org.usfirst.frc.team4272.robotlib.LimitSwitchedPIDOutput; -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.Relay; import edu.wpi.first.wpilibj.Talon; public class HwRobot { @@ -29,37 +25,26 @@ public class HwRobot { * And, for communication: USB-B and Ethernet. */ + // 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)); - public Encoder winchE = new Encoder(/*DIO*/4,/*DIO*/5);//), - private static DigitalInput winchT = new DigitalInput(/*DIO*/6); - private static DigitalInput winchB = new DigitalInput(/*DIO*/7); - private PIDOutput winchM = new LimitSwitchedPIDOutput( - new PIDOutputSplitter(new Talon(/*PWM*/4), - new Talon(/*PWM*/5)), - winchT, false, winchB, false); - private DoubleSolenoid grab = new DoubleSolenoid(/*PCM*/2,/*PCM*/3); - private DoubleSolenoid push = new DoubleSolenoid(/*PCM*/0,/*PCM*/1); - private Relay lIntake = new Relay(/*Relay*/1, Relay.Direction.kBoth); - private Relay rIntake = new Relay(/*Relay*/0, Relay.Direction.kBoth); + 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 HwRobot() { lDriveE.setPIDSourceType(PIDSourceType.kRate); rDriveE.setPIDSourceType(PIDSourceType.kRate); - winchE.setPIDSourceType(PIDSourceType.kRate); } public void run(Control c) { lDriveM.pidWrite( c.lDrive); rDriveM.pidWrite(-c.rDrive); - winchM.pidWrite(-c.winch); - lIntake.set(c.lIntake); - rIntake.set(c.rIntake); - grab.setForward(c.grab); - push.setForward(!c.push); + fBallM.pidWrite(c.fBall); + bBallM.pidWrite(c.bBall); } } |