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competition fixes
[3501/2017steamworks]
/
src
/
org
/
usfirst
/
frc
/
team3501
/
robot
/
subsystems
/
DriveTrain.java
diff --git
a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index a6a6f8c9ce7e7c7e434e144dcd316a3e3d35e8d9..b7264f1c8bba799dfe8aa9f717e28564e28175ca 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/
src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@
-14,7
+14,7
@@
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.command.Subsystem;
public class DriveTrain extends Subsystem {
import edu.wpi.first.wpilibj.command.Subsystem;
public class DriveTrain extends Subsystem {
- public static double driveP = 0.01
2, driveI = 0.0011
, driveD = -0.002;
+ public static double driveP = 0.01
, driveI = 0.00115
, driveD = -0.002;
public static double smallTurnP = 0.004, smallTurnI = 0.0013,
smallTurnD = 0.005;
public static double largeTurnP = .003, largeTurnI = .0012, largeTurnD = .006;
public static double smallTurnP = 0.004, smallTurnI = 0.0013,
smallTurnD = 0.005;
public static double largeTurnP = .003, largeTurnI = .0012, largeTurnD = .006;
@@
-101,7
+101,10
@@
public class DriveTrain extends Subsystem {
}
public void joystickDrive(final double thrust, final double twist) {
}
public void joystickDrive(final double thrust, final double twist) {
- robotDrive.arcadeDrive(thrust, twist, true);
+ if ((thrust < 0.1 && thrust > -0.1) && (twist < 0.1 && twist > -0.1))
+ robotDrive.arcadeDrive(0, 0, true);
+ else
+ robotDrive.arcadeDrive(thrust, twist, true);
}
public void stop() {
}
public void stop() {