diff options
Diffstat (limited to 'src/org/usfirst/frc/team4272/robot2016/HwRobot.java')
| -rw-r--r-- | src/org/usfirst/frc/team4272/robot2016/HwRobot.java | 10 |
1 files changed, 6 insertions, 4 deletions
diff --git a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java index 90eafe1..62b71c5 100644 --- a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java +++ b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java @@ -29,8 +29,8 @@ public class HwRobot { //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 lDriveM1 = new Talon(/*PWM*/0), lDriveM2 = new Talon(/*PWM*/1); + private PIDOutput rDriveM1 = new Talon(/*PWM*/2), rDriveM2 = 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)); @@ -41,8 +41,10 @@ public class HwRobot { } public void run(Control c) { - lDriveM.pidWrite( c.lDrive); - rDriveM.pidWrite(-c.rDrive); + lDriveM1.pidWrite( c.lDrive1); + lDriveM2.pidWrite( c.lDrive2); + rDriveM1.pidWrite(-c.rDrive1); + rDriveM2.pidWrite(-c.rDrive2); armM.pidWrite(-c.arm); fBallM.pidWrite(-c.fBall); bBallM.pidWrite(-c.bBall); |