diff options
Diffstat (limited to 'src/org/usfirst/frc/team4272/robot2016/HwRobot.java')
| -rw-r--r-- | src/org/usfirst/frc/team4272/robot2016/HwRobot.java | 19 |
1 files changed, 11 insertions, 8 deletions
diff --git a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java index ebc4efc..7d63f86 100644 --- a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java +++ b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java @@ -29,27 +29,25 @@ public class HwRobot { // naming convention: {side_letter}{Thing}{E|M (encoder/motor)} - //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 Encoder armE = new Encoder(/*DIO*/0, /*DIO*/1, /*DIO*/2, true); public final DigitalInput armL = new DigitalInput(/*DIO*/3); public final DigitalInput ballL = new DigitalInput(/*DIO*/4); + public final Encoder rDriveE = new Encoder(/*DIO*/5,/*DIO*/6); + public final Encoder lDriveE = new Encoder(/*DIO*/7,/*DIO*/8, true); public HwRobot() { - //lDriveE.setPIDSourceType(PIDSourceType.kRate); - //rDriveE.setPIDSourceType(PIDSourceType.kRate); armE.setPIDSourceType(PIDSourceType.kDisplacement); + lDriveE.setPIDSourceType(PIDSourceType.kRate); + rDriveE.setPIDSourceType(PIDSourceType.kRate); } public void run(Control c) { - if (armE.pidGet() < -295) - c.arm = 0; - lDriveM1.pidWrite( c.lDrive1); lDriveM2.pidWrite( c.lDrive2); rDriveM1.pidWrite(-c.rDrive1); @@ -61,6 +59,11 @@ public class HwRobot { SmartDashboard.putNumber("fBall", c.fBall); SmartDashboard.putNumber("bBall", c.bBall); SmartDashboard.putNumber("armM", c.arm); + SmartDashboard.putNumber("armE", armE.pidGet()); + SmartDashboard.putNumber("lDriveE", lDriveE.pidGet()); + SmartDashboard.putNumber("rDriveE", rDriveE.pidGet()); + SmartDashboard.putBoolean("ballL", ballL.get()); + SmartDashboard.putBoolean("armL", armL.get()); } } |