diff options
Diffstat (limited to 'src/org/usfirst/frc/team4272/robot2016/HwRobot.java')
| -rw-r--r-- | src/org/usfirst/frc/team4272/robot2016/HwRobot.java | 49 |
1 files changed, 14 insertions, 35 deletions
diff --git a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java index 4555adf..8f2515e 100644 --- a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java +++ b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java @@ -36,66 +36,45 @@ public class HwRobot { // naming convention: {side_letter}{Thing}{E|M (encoder/motor)} private final PIDOutput - rDriveM1 = new Talon(/*PWM*/0), /* PDP 2, 3 */ + rDriveM = new Talon(/*PWM*/0), /* PDP 2, 3 */ + lDriveM = new Talon(/*PWM*/1), /* PDP 12, 13 */ climber = new Talon(/*PWM*/3), /* PDP 4 */ - lDriveM1 = new Talon(/*PWM*/1), /* PDP 12, 13 */ - //lDriveM2 = new Talon(3),/*PWM*/ /* PDP 11 */ - //rDriveM2 = new Talon(1), - //armM = new Talon(/*PWM*/8), /* PDP 15 */ - //rfBallM = new Talon(/*PWM*/4), /* PDP 0 */ - //lfBallM = new Talon(/*PWM*/9), /* PDP 14 */ - //fBallM = new PIDOutputSplitter(rfBallM, lfBallM), - //bBallM = new Talon(/*PWM*/6),/* PDP 10, 5 */ camRotate = new PIDServo(8), camTilt = new PIDServo(9); - 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 final Encoder lDriveE = new Encoder(/*DIO*/0,/*DIO*/2, /*DIO*/1, /*reverse*/false); + public final Encoder rDriveE = new Encoder(/*DIO*/3,/*DIO*/5, /*DIO*/4, /*reverse*/true); public final PowerDistributionPanel PDP = new PowerDistributionPanel(); /* via CAN */ - public Solenoid PCM = new Solenoid(/*PCM*/ 4); + public Solenoid PCM1 = new Solenoid(/*PCM*/ 4); public Solenoid PCM2 = new Solenoid(5); public Solenoid PCM3 = new Solenoid(6); public Solenoid PCM4 = new Solenoid(7); public HwRobot() { - armE.setPIDSourceType(PIDSourceType.kDisplacement); lDriveE.setPIDSourceType(PIDSourceType.kRate); rDriveE.setPIDSourceType(PIDSourceType.kRate); - //PDP.initTable(NetworkTable.getTable("PDP"));// + //PDP.initTable(NetworkTable.getTable("PDP")); } public void run(Control c) { - lDriveM1.pidWrite( c.lDrive1); - rDriveM1.pidWrite(c.rDrive1); - //lDriveM2.pidWrite( c.lDrive2); + lDriveM.pidWrite(c.lDrive); + rDriveM.pidWrite(c.rDrive); climber.pidWrite(c.climber); - //rDriveM2.pidWrite(-c.rDrive2); - //armM.pidWrite(c.arm * 0.5); - //fBallM.pidWrite(-c.fBall); - //bBallM.pidWrite(-c.bBall); camRotate.pidWrite(c.camRotate); camTilt.pidWrite(c.camTilt); - PCM.set(c.PCM); - PCM2.set(c.PCM2); + + PCM1.set(c.highGear); + PCM2.set(!c.highGear); + PCM3.set(c.PCM3); PCM4.set(c.PCM4); - SmartDashboard.putNumber("fBall", c.fBall); - SmartDashboard.putNumber("bBall", c.bBall); - SmartDashboard.putNumber("armM", c.arm); - SmartDashboard.putNumber("armE", armE.pidGet()); SmartDashboard.putNumber("lDriveE distance", lDriveE.getDistance()); SmartDashboard.putNumber("lDriveE rate", lDriveE.getRate()); SmartDashboard.putNumber("rDriveE distance", rDriveE.getDistance()); SmartDashboard.putNumber("rDriveE rate", rDriveE.getRate()); - SmartDashboard.putBoolean("ballL", ballL.get()); - SmartDashboard.putBoolean("armL", armL.get()); - //PDP.updateTable();**// - //SmartDashboard.putData("PDP", PDP);// + //PDP.updateTable(); + //SmartDashboard.putData("PDP", PDP); } - } |