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-rw-r--r--src/org/usfirst/frc/team4272/robot2017/Autonomous.java1
-rw-r--r--src/org/usfirst/frc/team4272/robot2017/HwRobot.java6
-rw-r--r--src/org/usfirst/frc/team4272/robot2017/Teleop.java6
3 files changed, 7 insertions, 6 deletions
diff --git a/src/org/usfirst/frc/team4272/robot2017/Autonomous.java b/src/org/usfirst/frc/team4272/robot2017/Autonomous.java
index 7285108..b8aca0c 100644
--- a/src/org/usfirst/frc/team4272/robot2017/Autonomous.java
+++ b/src/org/usfirst/frc/team4272/robot2017/Autonomous.java
@@ -185,6 +185,7 @@ public class Autonomous {
modeChooser.addObject("Center Peg", "Center Peg");
modeChooser.addObject("Left Peg", "Left Peg");
modeChooser.addObject("Right Peg", "Right Peg");
+ modeChooser.addObject("Stand Still", "Stand Still");
SmartDashboard.putData("Autonomous Mode", modeChooser);
}
diff --git a/src/org/usfirst/frc/team4272/robot2017/HwRobot.java b/src/org/usfirst/frc/team4272/robot2017/HwRobot.java
index e3b2bd5..a72ae44 100644
--- a/src/org/usfirst/frc/team4272/robot2017/HwRobot.java
+++ b/src/org/usfirst/frc/team4272/robot2017/HwRobot.java
@@ -90,7 +90,7 @@ public class HwRobot {
lDriveE.setPIDSourceType(PIDSourceType.kRate);
rDriveE.setPIDSourceType(PIDSourceType.kRate);
- //PDP.initTable(NetworkTable.getTable("PDP"));
+ PDP.initTable(NetworkTable.getTable("PDP"));
lRate = new RollingAvg(5, lDriveE);
rRate = new RollingAvg(5, rDriveE);
@@ -125,7 +125,7 @@ public class HwRobot {
SmartDashboard.putBoolean("highGear", c.highGear);
SmartDashboard.putBoolean("gedOut", c.gedOut);
- //PDP.updateTable();
- //SmartDashboard.putData("PDP", PDP);
+ PDP.updateTable();
+ SmartDashboard.putData("PDP", PDP);
}
}
diff --git a/src/org/usfirst/frc/team4272/robot2017/Teleop.java b/src/org/usfirst/frc/team4272/robot2017/Teleop.java
index 103bd66..0b9d11f 100644
--- a/src/org/usfirst/frc/team4272/robot2017/Teleop.java
+++ b/src/org/usfirst/frc/team4272/robot2017/Teleop.java
@@ -73,10 +73,10 @@ public class Teleop {
/* shifting */
double shiftUp = prefs.getDouble("shiftUp", 3.3*3.28);
double shiftDown = prefs.getDouble("shiftDown", 2.7*3.28);
- if (oi.lStick.getTrigger()) {
- control.highGear = false;
- } else if (oi.rStick.getTrigger()) {
+ if (oi.rStick.getTrigger()) {
control.highGear = true;
+ } else if (oi.lStick.getTrigger()) {
+ control.highGear = false;
} else {
double speed = Math.abs((robot.lRate.pidGet() + robot.rRate.pidGet()) / 2);
if (!control.highGear) {