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, 13 insertions, 11 deletions
diff --git a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java index ec96bf4..ebc4efc 100644 --- a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java +++ b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java @@ -3,6 +3,7 @@ package org.usfirst.frc.team4272.robot2016; import org.usfirst.frc.team4272.robotlib.PIDOutputSplitter; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj.DigitalInput; import edu.wpi.first.wpilibj.Encoder; import edu.wpi.first.wpilibj.PIDOutput; import edu.wpi.first.wpilibj.PIDSourceType; @@ -28,14 +29,16 @@ public class HwRobot { // naming convention: {side_letter}{Thing}{E|M (encoder/motor)} - //public Encoder lDriveE = new Encoder(/*DIO*/2,/*DIO*/3); - //public Encoder rDriveE = new Encoder(/*DIO*/0,/*DIO*/1, true); - private PIDOutput lDriveM1 = new Talon(/*PWM*/1), lDriveM2 = new Talon(/*PWM*/0); - private PIDOutput rDriveM1 = new Talon(/*PWM*/2), rDriveM2 = new Talon(/*PWM*/4); - private PIDOutput armM = new Talon(/*PWM*/8); - private Encoder armE = new Encoder(/*DIO*/0, /*DIO*/1, /*DIO*/2); - private PIDOutput fBallM = new PIDOutputSplitter(new Talon(/*PWM*/9), new Talon(/*PWM*/3)); - private PIDOutput bBallM = new PIDOutputSplitter(new Talon(/*PWM*/6), new Talon(/*PWM*/7)); + //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)); + public final DigitalInput armL = new DigitalInput(/*DIO*/3); + public final DigitalInput ballL = new DigitalInput(/*DIO*/4); public HwRobot() { //lDriveE.setPIDSourceType(PIDSourceType.kRate); @@ -44,8 +47,7 @@ public class HwRobot { } public void run(Control c) { - double armEval = armE.pidGet(); // avoid reading twice - if (armEval < -295) + if (armE.pidGet() < -295) c.arm = 0; lDriveM1.pidWrite( c.lDrive1); @@ -59,6 +61,6 @@ public class HwRobot { SmartDashboard.putNumber("fBall", c.fBall); SmartDashboard.putNumber("bBall", c.bBall); SmartDashboard.putNumber("armM", c.arm); - SmartDashboard.putNumber("armE", armEval); + SmartDashboard.putNumber("armE", armE.pidGet()); } } |