From ee92234b004a4cb01e87485a0899a97f39a40e86 Mon Sep 17 00:00:00 2001 From: Garima Kapila Date: Sat, 30 Jan 2016 16:53:42 -0800 Subject: [PATCH] instantiate cheval de frise and angle adjuster motors --- src/org/usfirst/frc/team3501/robot/Constants.java | 2 ++ src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java | 2 +- src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java | 5 +++-- 3 files changed, 6 insertions(+), 3 deletions(-) diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java index f47f9dd7..c26a8809 100644 --- 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 ANGLE_ADJUSTER_PORT = 0; 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 final int CHEVAL_DE_FRISE_PORT = 1; 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 8343a8b2..33165b32 100755 --- 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); - + 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 035ee86c..3e6b7f60 100755 --- 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); - 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() { -- 2.30.2