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instantiate cheval de frise and angle adjuster motors
author
Garima Kapila
<garima.kapila369@gmail.com>
Sun, 31 Jan 2016 00:53:42 +0000
(16:53 -0800)
committer
Garima Kapila
<garima.kapila369@gmail.com>
Sun, 31 Jan 2016 00:53:42 +0000
(16:53 -0800)
src/org/usfirst/frc/team3501/robot/Constants.java
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src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.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 f47f9dd714c1885c78817f5ce526ca147b2fc072..c26a8809c4ebc2789bc4c3ae190ffbf641fac548 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/
src/org/usfirst/frc/team3501/robot/Constants.java
@@
-48,6
+48,7
@@
public class Constants {
public static final int PORT = 0;
public static final int PUNCH_FORWARD_PORT = 0;
public static final int PUNCH_REVERSE_PORT = 1;
public static final int PORT = 0;
public static final int PUNCH_FORWARD_PORT = 0;
public static final int PUNCH_REVERSE_PORT = 1;
+ public static final int ANGLE_ADJUSTER_PORT = 0;
public static final DoubleSolenoid.Value punch = DoubleSolenoid.Value.kForward;
public static final DoubleSolenoid.Value retract = DoubleSolenoid.Value.kReverse;
public static final DoubleSolenoid.Value punch = DoubleSolenoid.Value.kForward;
public static final DoubleSolenoid.Value retract = DoubleSolenoid.Value.kReverse;
@@
-58,6
+59,7
@@
public class Constants {
public static class IntakeArm {
public static final int PORT = 0;
public static class IntakeArm {
public static final int PORT = 0;
+ public static final int CHEVAL_DE_FRISE_PORT = 1;
public static final double INTAKE_SPEED = 0.5;
public static final double OUTPUT_SPEED = -0.5;
public static final double INTAKE_SPEED = 0.5;
public static final double OUTPUT_SPEED = -0.5;
diff --git
a/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java
b/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java
index 8343a8b270892f5a589e19499f0e161ebef500cf..33165b321a44e191f10eaa0ab3328dc9601e17bd 100755
(executable)
--- a/
src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java
+++ b/
src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java
@@
-12,7
+12,7
@@
public class IntakeArm extends Subsystem {
public IntakeArm() {
intake = new CANTalon(Constants.IntakeArm.PORT);
public IntakeArm() {
intake = new CANTalon(Constants.IntakeArm.PORT);
-
+ chevalDeFriseHand = new CANTalon(Constants.IntakeArm.CHEVAL_DE_FRISE_PORT);
}
/*
}
/*
diff --git
a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
index 035ee86ce029e831dec3242fc8f3692e6c1a6114..3e6b7f6015457a8e2f97441387642d9a395febe0 100755
(executable)
--- a/
src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/
src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@
-13,8
+13,9
@@
public class Shooter extends Subsystem {
public Shooter() {
shooter = new CANTalon(Constants.Shooter.PORT);
public Shooter() {
shooter = new CANTalon(Constants.Shooter.PORT);
- punch = new DoubleSolenoid(Constants.Shooter.FORWARD_PORT,
- Constants.Shooter.REVERSE_PORT);
+ angleAdjuster = new CANTalon(Constants.Shooter.ANGLE_ADJUSTER_PORT);
+ punch = new DoubleSolenoid(Constants.Shooter.PUNCH_FORWARD_PORT,
+ Constants.Shooter.PUNCH_REVERSE_PORT);
}
public double getCurrentSetPoint() {
}
public double getCurrentSetPoint() {