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fix indexing piston code
rohan/indexerPiston
author
Cindy Zhang
<cindyzyx9@gmail.com>
Mon, 20 Feb 2017 22:32:59 +0000
(14:32 -0800)
committer
Cindy Zhang
<cindyzyx9@gmail.com>
Mon, 20 Feb 2017 22:32:59 +0000
(14:32 -0800)
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/commands/shooter/RunIndexWheelContinuous.java
b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
index 4ba29d0fef26e58639d4a6a49c4d377b3c27abff..1428387ff4eafbaaa4b404524554bd922931aee0 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
+++ b/
src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
@@
-4,7
+4,6
@@
import org.usfirst.frc.team3501.robot.Constants;
import org.usfirst.frc.team3501.robot.Robot;
import org.usfirst.frc.team3501.robot.subsystems.Shooter;
import org.usfirst.frc.team3501.robot.Robot;
import org.usfirst.frc.team3501.robot.subsystems.Shooter;
-import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.command.Command;
/**
import edu.wpi.first.wpilibj.command.Command;
/**
@@
-21,7
+20,6
@@
import edu.wpi.first.wpilibj.command.Command;
*/
public class RunIndexWheelContinuous extends Command {
private Shooter shooter = Robot.getShooter();
*/
public class RunIndexWheelContinuous extends Command {
private Shooter shooter = Robot.getShooter();
- private Timer t = new Timer();
/**
* See JavaDoc comment in class for details
/**
* See JavaDoc comment in class for details
@@
-36,13
+34,12
@@
public class RunIndexWheelContinuous extends Command {
// Called just before this Command runs the first time
@Override
protected void initialize() {
// Called just before this Command runs the first time
@Override
protected void initialize() {
- t.reset();
}
// Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
}
// Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
- if (t
.get
() % 1 == 0) {
+ if (t
imeSinceInitialized
() % 1 == 0) {
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 f457ba57c57cf04b7fd472f3d8980661a158e412..adca18f2c2253d55dae55bd31d90fdc18afb02f4 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/
src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@
-31,7
+31,7
@@
public class Shooter extends Subsystem {
hallEffect = new HallEffectSensor(Constants.Shooter.HALL_EFFECT_PORT, 1);
hallEffect = new HallEffectSensor(Constants.Shooter.HALL_EFFECT_PORT, 1);
- piston = new DoubleSolenoid(Constants.
DriveTrain
.MODULE_NUMBER,
+ piston = new DoubleSolenoid(Constants.
Shooter
.MODULE_NUMBER,
Constants.Shooter.PISTON_FORWARD, Constants.Shooter.PISTON_REVERSE);
}
Constants.Shooter.PISTON_FORWARD, Constants.Shooter.PISTON_REVERSE);
}