diff options
Diffstat (limited to 'src/org/usfirst/frc/team4272/robotlib')
3 files changed, 13 insertions, 13 deletions
diff --git a/src/org/usfirst/frc/team4272/robotlib/DoubleSolenoid.java b/src/org/usfirst/frc/team4272/robotlib/DoubleSolenoid.java index 8698277..33524f1 100644 --- a/src/org/usfirst/frc/team4272/robotlib/DoubleSolenoid.java +++ b/src/org/usfirst/frc/team4272/robotlib/DoubleSolenoid.java @@ -3,7 +3,7 @@ package org.usfirst.frc.team4272.robotlib; public class DoubleSolenoid extends edu.wpi.first.wpilibj.DoubleSolenoid { private boolean enabled = true; private Value value; - + public DoubleSolenoid(int forwardChannel, int reverseChannel) { super(forwardChannel, reverseChannel); value = get(); @@ -12,7 +12,7 @@ public class DoubleSolenoid extends edu.wpi.first.wpilibj.DoubleSolenoid { super(moduleNumber, forwardChannel, reverseChannel); value = get(); } - + public void setEnabled(boolean enabled) { this.enabled = enabled; if (enabled) { @@ -21,15 +21,15 @@ public class DoubleSolenoid extends edu.wpi.first.wpilibj.DoubleSolenoid { set(Value.kOff); } } - + public void setForward(boolean forward) { set(forward ? Value.kForward : Value.kReverse); } - + public boolean getForward() { return value == Value.kForward; } - + public void set(Value value) { this.value = value; if (enabled) { diff --git a/src/org/usfirst/frc/team4272/robotlib/LimitSwitchedPIDOutput.java b/src/org/usfirst/frc/team4272/robotlib/LimitSwitchedPIDOutput.java index aa3aeaf..695d418 100644 --- a/src/org/usfirst/frc/team4272/robotlib/LimitSwitchedPIDOutput.java +++ b/src/org/usfirst/frc/team4272/robotlib/LimitSwitchedPIDOutput.java @@ -9,7 +9,7 @@ public class LimitSwitchedPIDOutput implements PIDOutput { private final DigitalInput bakward; private final boolean for_pressed; private final boolean bak_pressed; - + public LimitSwitchedPIDOutput(PIDOutput out, DigitalInput forward, boolean for_pressed, DigitalInput backward, boolean back_pressed) { @@ -19,11 +19,11 @@ public class LimitSwitchedPIDOutput implements PIDOutput { this.for_pressed = for_pressed; this.bak_pressed = back_pressed; } - + public LimitSwitchedPIDOutput(PIDOutput out, DigitalInput forward, DigitalInput backward) { this(out, forward, true, backward, true); } - + public void pidWrite(double v) { if (forward.get() == for_pressed) { v = Math.min(v, 0); } if (bakward.get() == bak_pressed) { v = Math.max(v, 0); } diff --git a/src/org/usfirst/frc/team4272/robotlib/Xbox360Controller.java b/src/org/usfirst/frc/team4272/robotlib/Xbox360Controller.java index d04fa23..0a4df83 100644 --- a/src/org/usfirst/frc/team4272/robotlib/Xbox360Controller.java +++ b/src/org/usfirst/frc/team4272/robotlib/Xbox360Controller.java @@ -56,7 +56,7 @@ public class Xbox360Controller extends Joystick { } /* Core functions *******************************************/ - + /** * Get the value of an axis base on an enumerated type. * @@ -77,7 +77,7 @@ public class Xbox360Controller extends Joystick { return getRawButton(button.id); } - + /* The actual code is done. The rest is boilerplate. See, * this is why Java is terrible. Just 30% of the file * actually doing useful stuff, the rest just filling @@ -153,7 +153,7 @@ public class Xbox360Controller extends Joystick { return getButton(Button.RB); return false; } - + /** * Get the state of a trigger; whether it is more than * half-way pressed or not. @@ -210,7 +210,7 @@ public class Xbox360Controller extends Joystick { return Math.toDegrees(getDirectionRadians(Hand.kRight)); } - + /* Unused wrappers for GenericHID/Joystick ******************/ /** @@ -230,7 +230,7 @@ public class Xbox360Controller extends Joystick { public double getThrottle() { return 0.0; } - + /** * This method is only here to complete the Joystick interface. * |