1 files changed, 36 insertions, 19 deletions

diff --git a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
index e61d87f..4555adf 100644
--- a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
+++ b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
@@ -9,8 +9,11 @@ import edu.wpi.first.wpilibj.PIDOutput;
 import edu.wpi.first.wpilibj.PIDSourceType;
 import edu.wpi.first.wpilibj.PowerDistributionPanel;
 import edu.wpi.first.wpilibj.Talon;
+import edu.wpi.first.wpilibj.Jaguar;
+import edu.wpi.first.wpilibj.Solenoid;
 
 import org.usfirst.frc.team4272.robotlib.PIDOutputSplitter;
+import org.usfirst.frc.team4272.robotlib.PIDServo;
 
 public class HwRobot {
 	/* Relay == a Spike */
@@ -33,16 +36,18 @@ public class HwRobot {
 	// naming convention: {side_letter}{Thing}{E|M (encoder/motor)}
 
 	private final PIDOutput
-	    rDriveM1 = new Talon(/*PWM*/2), /* PDP 2, 3 */
-	    rDriveM2 = new Talon(/*PWM*/4), /* PDP 4 */
+	    rDriveM1 = new Talon(/*PWM*/0), /* PDP 2, 3 */
+	    climber = new Talon(/*PWM*/3), /* PDP 4 */
 	    lDriveM1 = new Talon(/*PWM*/1), /* PDP 12, 13 */
-	    lDriveM2 = new Talon(/*PWM*/0), /* PDP 11 */
-	    armM     = new Talon(/*PWM*/8), /* PDP 15 */
-	    rfBallM  = new Talon(/*PWM*/3), /* PDP 0 */
-	    lfBallM  = new Talon(/*PWM*/9), /* PDP 14 */
-	    fBallM   = new PIDOutputSplitter(rfBallM, lfBallM),
-	    bBallM   = new Talon(/*PWM*/6); /* PDP 10, 5 */
-
+	    //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);
@@ -50,22 +55,33 @@ public class HwRobot {
 	public final Encoder   lDriveE = new Encoder(/*DIO*/7,/*DIO*/8, true);
 	public final PowerDistributionPanel PDP = new PowerDistributionPanel(); /* via CAN */
 
+	public Solenoid PCM = 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);
-		lDriveM2.pidWrite( c.lDrive2);
-		rDriveM1.pidWrite(-c.rDrive1);
-		rDriveM2.pidWrite(-c.rDrive2);
-		armM.pidWrite(c.arm * 0.5);
-		fBallM.pidWrite(-c.fBall);
-		bBallM.pidWrite(-c.bBall);
-
+		rDriveM1.pidWrite(c.rDrive1);
+		//lDriveM2.pidWrite( c.lDrive2);
+		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);
+		PCM3.set(c.PCM3);
+		PCM4.set(c.PCM4);
 		SmartDashboard.putNumber("fBall", c.fBall);
 		SmartDashboard.putNumber("bBall", c.bBall);
 		SmartDashboard.putNumber("armM", c.arm);
@@ -78,7 +94,8 @@ public class HwRobot {
 		SmartDashboard.putBoolean("ballL", ballL.get());
 		SmartDashboard.putBoolean("armL", armL.get());
 
-		PDP.updateTable();
-		SmartDashboard.putData("PDP", PDP);
+		//PDP.updateTable();**//
+		//SmartDashboard.putData("PDP", PDP);//
 	}
+	
 }