From 2e328065b7a7d89c15dd7e124d6383c2b61726fd Mon Sep 17 00:00:00 2001
From: FRC_4272 <FRC_4272@USER-PC.lan>
Date: Thu, 23 Mar 2017 01:33:38 -0400
Subject: Changes sitting on the Dell.

---
 .../usfirst/frc/team4272/robot2016/HwRobot.java    | 36 ++++++++++++++--------
 1 file changed, 23 insertions(+), 13 deletions(-)

(limited to 'src/org/usfirst/frc/team4272/robot2016/HwRobot.java')

diff --git a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
index e61d87f..e4e9b2f 100644
--- a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
+++ b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
@@ -9,8 +9,11 @@ import edu.wpi.first.wpilibj.PIDOutput;
 import edu.wpi.first.wpilibj.PIDSourceType;
 import edu.wpi.first.wpilibj.PowerDistributionPanel;
 import edu.wpi.first.wpilibj.Talon;
+import edu.wpi.first.wpilibj.Jaguar;
+import edu.wpi.first.wpilibj.Solenoid;
 
 import org.usfirst.frc.team4272.robotlib.PIDOutputSplitter;
+import org.usfirst.frc.team4272.robotlib.PIDServo;
 
 public class HwRobot {
 	/* Relay == a Spike */
@@ -33,15 +36,17 @@ public class HwRobot {
 	// naming convention: {side_letter}{Thing}{E|M (encoder/motor)}
 
 	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 */
+	    rDriveM1 = new Jaguar(/*PWM*/0), /* PDP 2, 3 */
+	    rDriveM2 = new Jaguar(/*PWM*/1), /* PDP 4 */
+	    lDriveM1 = new Jaguar(/*PWM*/3), /* PDP 12, 13 */
+	    lDriveM2 = new Jaguar(2),/*PWM*/ /* PDP 11 */
+	    //armM     = new Talon(/*PWM*/8), /* PDP 15 */
+	    //rfBallM  = new Talon(/*PWM*/4), /* PDP 0 */
+	    //lfBallM  = new Talon(/*PWM*/9), /* PDP 14 */
+	    //fBallM   = new PIDOutputSplitter(rfBallM, lfBallM),
+	    //bBallM   = new Talon(/*PWM*/6),/* PDP 10, 5 */
+	    camRotate = new PIDServo(8),
+	    camTilt = new PIDServo(9);
 
 	public final Encoder   armE = new Encoder(/*DIO*/0, /*DIO*/1, /*DIO*/2, true);
 	public final DigitalInput armL = new DigitalInput(/*DIO*/3);
@@ -50,6 +55,8 @@ public class HwRobot {
 	public final Encoder   lDriveE = new Encoder(/*DIO*/7,/*DIO*/8, true);
 	public final PowerDistributionPanel PDP = new PowerDistributionPanel(); /* via CAN */
 
+	private final Solenoid PCM = new Solenoid(/*PCM*/ 0);
+
 	public HwRobot() {
 		armE.setPIDSourceType(PIDSourceType.kDisplacement);
 		lDriveE.setPIDSourceType(PIDSourceType.kRate);
@@ -62,10 +69,12 @@ public class HwRobot {
 		lDriveM2.pidWrite( c.lDrive2);
 		rDriveM1.pidWrite(-c.rDrive1);
 		rDriveM2.pidWrite(-c.rDrive2);
-		armM.pidWrite(c.arm * 0.5);
-		fBallM.pidWrite(-c.fBall);
-		bBallM.pidWrite(-c.bBall);
-
+		//armM.pidWrite(c.arm * 0.5);
+		//fBallM.pidWrite(-c.fBall);
+		//bBallM.pidWrite(-c.bBall);
+		camRotate.pidWrite(c.camRotate);
+		camTilt.pidWrite(c.camTilt);
+		PCM.set(c.PCM);
 		SmartDashboard.putNumber("fBall", c.fBall);
 		SmartDashboard.putNumber("bBall", c.bBall);
 		SmartDashboard.putNumber("armM", c.arm);
@@ -81,4 +90,5 @@ public class HwRobot {
 		PDP.updateTable();
 		SmartDashboard.putData("PDP", PDP);
 	}
+	
 }
-- 
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