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-rw-r--r--src/org/usfirst/frc/team4272/robot2016/Teleop.java8
1 files changed, 5 insertions, 3 deletions
diff --git a/src/org/usfirst/frc/team4272/robot2016/Teleop.java b/src/org/usfirst/frc/team4272/robot2016/Teleop.java
index c7029f4..73b7b60 100644
--- a/src/org/usfirst/frc/team4272/robot2016/Teleop.java
+++ b/src/org/usfirst/frc/team4272/robot2016/Teleop.java
@@ -39,13 +39,15 @@ public class Teleop {
control.lDrive2 = oi.lStick.getTrigger() ? control.lDrive1 : 0;
control.rDrive2 = oi.rStick.getTrigger() ? control.rDrive1 : 0;
control.arm = -oi.xbox.getAxis(Axis.LY);
-
+ if (control.arm < 0)
+ control.arm = control.arm*0.2;
+
double fBall = oi.xbox.getAxis(Axis.RTrigger) - oi.xbox.getAxis(Axis.LTrigger);
double bBall = bound(-1, fBall, 0) + oneIf(oi.xbox.getButton(Button.A)) - oneIf(oi.xbox.getButton(Button.B));
boolean ballL = robot.ballL.get();
- control.fBall = bound(-oneIf(ballL), fBall < 0 ? 0.75*fBall : fBall, 1);
- control.bBall = bound(-oneIf(ballL), bBall < 0 ? 0.85*bBall : bBall, 1);
+ control.fBall = bound(-oneIf(ballL), fBall < 0 ? 0.5*fBall : fBall, 1);
+ control.bBall = bound(-oneIf(ballL), bBall < 0 ? 0.5*bBall : bBall, 1);
/* I'm eyeballing 10 degrees ≈ 50 clicks */
if (robot.armE.pidGet() < 50 && !robot.armL.get()) {