diff options
Diffstat (limited to 'src/org/usfirst/frc/team4272/robot2017/HwRobot.java')
| -rw-r--r-- | src/org/usfirst/frc/team4272/robot2017/HwRobot.java | 6 |
1 files changed, 6 insertions, 0 deletions
diff --git a/src/org/usfirst/frc/team4272/robot2017/HwRobot.java b/src/org/usfirst/frc/team4272/robot2017/HwRobot.java index 091b68b..e3b2bd5 100644 --- a/src/org/usfirst/frc/team4272/robot2017/HwRobot.java +++ b/src/org/usfirst/frc/team4272/robot2017/HwRobot.java @@ -34,6 +34,7 @@ import edu.wpi.first.wpilibj.DoubleSolenoid; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.Encoder; import edu.wpi.first.wpilibj.PIDOutput; +import edu.wpi.first.wpilibj.PIDSource; import edu.wpi.first.wpilibj.PIDSourceType; import edu.wpi.first.wpilibj.PowerDistributionPanel; import edu.wpi.first.wpilibj.Talon; @@ -42,6 +43,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import org.usfirst.frc.team4272.robotlib.PIDOutputSplitter; import org.usfirst.frc.team4272.robotlib.PIDServo; +import org.usfirst.frc.team4272.robotlib.RollingAvg; public class HwRobot { /* Relay == a Spike */ @@ -71,6 +73,7 @@ public class HwRobot { camTilt = new PIDServo(9); public final Encoder lDriveE = new Encoder(/*DIO*/0,/*DIO*/1, /*reverse*/false); public final Encoder rDriveE = new Encoder(/*DIO*/2,/*DIO*/3, /*reverse*/true); + public final PIDSource lRate, rRate; public final PowerDistributionPanel PDP = new PowerDistributionPanel(); /* via CAN */ public final DriverStation ds = DriverStation.getInstance(); @@ -88,6 +91,9 @@ public class HwRobot { lDriveE.setPIDSourceType(PIDSourceType.kRate); rDriveE.setPIDSourceType(PIDSourceType.kRate); //PDP.initTable(NetworkTable.getTable("PDP")); + + lRate = new RollingAvg(5, lDriveE); + rRate = new RollingAvg(5, rDriveE); } public void run(Control c) { |