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driver practice changes
author
Cindy Zhang
<cindyzyx9@gmail.com>
Thu, 9 Mar 2017 00:14:52 +0000
(16:14 -0800)
committer
Cindy Zhang
<cindyzyx9@gmail.com>
Thu, 9 Mar 2017 00:14:52 +0000
(16:14 -0800)
src/org/usfirst/frc/team3501/robot/Constants.java
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src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
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src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
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diff --git
a/src/org/usfirst/frc/team3501/robot/Constants.java
b/src/org/usfirst/frc/team3501/robot/Constants.java
index cd699c460675405b6ea42a2c596f013c4dd92ce9..d51dfe76479c73135d26c9d7c0afcedaaddbf3eb 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/
src/org/usfirst/frc/team3501/robot/Constants.java
@@
-36,8
+36,8
@@
public class Constants {
public final static int HALL_EFFECT_PORT = 9;
public final static int HALL_EFFECT_PORT = 9;
- public static final int MODULE_NUMBER = 10, PISTON_FORWARD =
7
,
- PISTON_REVERSE =
8
;
+ public static final int MODULE_NUMBER = 10, PISTON_FORWARD =
4
,
+ PISTON_REVERSE =
5
;
public static final Value HIGH_GEAR = DoubleSolenoid.Value.kForward;
public static final Value LOW_GEAR = DoubleSolenoid.Value.kReverse;
}
public static final Value HIGH_GEAR = DoubleSolenoid.Value.kForward;
public static final Value LOW_GEAR = DoubleSolenoid.Value.kReverse;
}
@@
-45,8
+45,8
@@
public class Constants {
public static class DriveTrain {
// GEARS
public static final int PISTON_MODULE = 10, LEFT_GEAR_PISTON_FORWARD = 0,
public static class DriveTrain {
// GEARS
public static final int PISTON_MODULE = 10, LEFT_GEAR_PISTON_FORWARD = 0,
- LEFT_GEAR_PISTON_REVERSE = 1, RIGHT_GEAR_PISTON_FORWARD =
2
,
- RIGHT_GEAR_PISTON_REVERSE =
3
;
+ LEFT_GEAR_PISTON_REVERSE = 1, RIGHT_GEAR_PISTON_FORWARD =
3
,
+ RIGHT_GEAR_PISTON_REVERSE =
2
;
public static final Value HIGH_GEAR = DoubleSolenoid.Value.kForward;
public static final Value LOW_GEAR = DoubleSolenoid.Value.kReverse;
public static final Value HIGH_GEAR = DoubleSolenoid.Value.kForward;
public static final Value LOW_GEAR = DoubleSolenoid.Value.kReverse;
diff --git
a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
index 1bf1309583fd06a0e5553ce95a2f1ac800d34094..95940130f11aac8c50ebc54dc29af5d2d13dcf76 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
+++ b/
src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
@@
-34,7
+34,7
@@
public class RunIndexWheelContinuous extends Command {
@Override
protected void execute() {
@Override
protected void execute() {
- if (timeSinceInitialized() %
1 == 0
) {
+ if (timeSinceInitialized() %
0.5 <= 0.02
) {
if (Shooter.getShooter().getPistonValue() == Constants.Shooter.LOW_GEAR) {
Shooter.getShooter().setHighGear();
} else {
if (Shooter.getShooter().getPistonValue() == Constants.Shooter.LOW_GEAR) {
Shooter.getShooter().setHighGear();
} else {
diff --git
a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
index 531e485014ad72db5239612355b854e0ac6f9e9e..faca5ddac1c1e7b9caabab21298a932c8192e5d0 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/
src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@
-20,8
+20,8
@@
public class Shooter extends Subsystem {
private PIDController wheelController;
private static final double RPM_THRESHOLD = 10;
private PIDController wheelController;
private static final double RPM_THRESHOLD = 10;
- private static final double DEFAULT_INDEXING_MOTOR_VALUE = 0.75;
- private static final double DEFAULT_SHOOTING_SPEED =
28
00; // rpm
+ private static final double DEFAULT_INDEXING_MOTOR_VALUE =
-
0.75;
+ private static final double DEFAULT_SHOOTING_SPEED =
31
00; // rpm
private static final double SHOOTING_SPEED_INCREMENT = 50;
private double targetShootingSpeed = DEFAULT_SHOOTING_SPEED;
private static final double SHOOTING_SPEED_INCREMENT = 50;
private double targetShootingSpeed = DEFAULT_SHOOTING_SPEED;