diff options
Diffstat (limited to 'src/org/usfirst/frc/team4272/robot2016/HwRobot.java')
| -rw-r--r-- | src/org/usfirst/frc/team4272/robot2016/HwRobot.java | 22 |
1 files changed, 8 insertions, 14 deletions
diff --git a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java index 0f5375f..1fb47be 100644 --- a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java +++ b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java @@ -1,16 +1,14 @@ package org.usfirst.frc.team4272.robot2016; -import edu.wpi.first.wpilibj.networktables.NetworkTable; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; - import edu.wpi.first.wpilibj.DigitalInput; +import edu.wpi.first.wpilibj.DoubleSolenoid; import edu.wpi.first.wpilibj.Encoder; 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 edu.wpi.first.wpilibj.networktables.NetworkTable; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import org.usfirst.frc.team4272.robotlib.PIDOutputSplitter; import org.usfirst.frc.team4272.robotlib.PIDServo; @@ -45,10 +43,9 @@ public class HwRobot { public final Encoder rDriveE = new Encoder(/*DIO*/2,/*DIO*/3, /*reverse*/true); public final PowerDistributionPanel PDP = new PowerDistributionPanel(); /* via CAN */ - 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 DoubleSolenoid + shifter = new DoubleSolenoid(/*PCM*/4, /*PCM*/5), + ged = new DoubleSolenoid(/*PCM*/6, /*PCM*/7); public HwRobot() { lDriveE.setDistancePerPulse(10.0/*feet*/ / 1865.75/*pulses*/); @@ -66,11 +63,8 @@ public class HwRobot { camRotate.pidWrite(c.camRotate); camTilt.pidWrite(c.camTilt); - PCM1.set(c.highGear); - PCM2.set(!c.highGear); - - PCM3.set(c.PCM3); - PCM4.set(c.PCM4); + shifter.set(c.highGear ? DoubleSolenoid.Value.kReverse : DoubleSolenoid.Value.kForward); + ged.set(c.gedOut ? DoubleSolenoid.Value.kReverse : DoubleSolenoid.Value.kForward); SmartDashboard.putNumber("lDriveE distance", lDriveE.getDistance()); SmartDashboard.putNumber("lDriveE rate", lDriveE.getRate()); |