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..a59ecb1 100644 --- a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java +++ b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java @@ -27,24 +27,24 @@ 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); - fBallM.pidWrite(c.fBall); - bBallM.pidWrite(c.bBall); + armM.pidWrite(-c.arm); + fBallM.pidWrite(-c.fBall); + bBallM.pidWrite(-c.bBall); } } |