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-rw-r--r--src/org/usfirst/frc/team4272/robot2016/HwRobot.java23
1 files changed, 15 insertions, 8 deletions
diff --git a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
index ebc4efc..4a02076 100644
--- a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
+++ b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
@@ -29,16 +29,23 @@ public class HwRobot {
// naming convention: {side_letter}{Thing}{E|M (encoder/motor)}
- //public final Encoder lDriveE = new Encoder(/*DIO*/2,/*DIO*/3);
- //public final Encoder rDriveE = new Encoder(/*DIO*/0,/*DIO*/1, true);
- private final PIDOutput lDriveM1 = new Talon(/*PWM*/1), lDriveM2 = new Talon(/*PWM*/0);
- private final PIDOutput rDriveM1 = new Talon(/*PWM*/2), rDriveM2 = new Talon(/*PWM*/4);
- private final PIDOutput armM = new Talon(/*PWM*/8);
- public final Encoder armE = new Encoder(/*DIO*/0, /*DIO*/1, /*DIO*/2);
- private final PIDOutput fBallM = new PIDOutputSplitter(new Talon(/*PWM*/9), new Talon(/*PWM*/3));
- private final PIDOutput bBallM = new PIDOutputSplitter(new Talon(/*PWM*/6), new Talon(/*PWM*/7));
+
+ private final PIDOutput
+ rDriveM1 = new Talon(/*PWM*/2), /* PDP 2, 3 */
+ rDriveM2 = new Talon(/*PWM*/4), /* 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 */
+
+ public final Encoder armE = new Encoder(/*DIO*/0, /*DIO*/1, /*DIO*/2);
public final DigitalInput armL = new DigitalInput(/*DIO*/3);
public final DigitalInput ballL = new DigitalInput(/*DIO*/4);
+ //public final Encoder lDriveE = new Encoder(/*DIO*/2,/*DIO*/3);
+ //public final Encoder rDriveE = new Encoder(/*DIO*/0,/*DIO*/1, true);
public HwRobot() {
//lDriveE.setPIDSourceType(PIDSourceType.kRate);