package org.usfirst.frc.team3501.robot.subsystems;
import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.MathLib;
import org.usfirst.frc.team3501.robot.commands.driving.JoystickDrive;
import com.ctre.CANTalon;
import edu.wpi.first.wpilibj.command.Subsystem;
public class DriveTrain extends Subsystem {
- public static double driveP = 0.012, driveI = 0.0011, driveD = -0.002;
+ public static double driveP = 0.006, driveI = 0.0011, driveD = -0.002;
public static double turnP = 0.004, turnI = 0.0013, turnD = -0.005;
public static double driveStraightGyroP = 0.01;
- public static final double WHEEL_DIAMETER = 6; // inches
- public static final int ENCODER_PULSES_PER_REVOLUTION = 256;
+ public static final double WHEEL_DIAMETER = 4; // inches
+ public static final double ENCODER_PULSES_PER_REVOLUTION = 256;
public static final double INCHES_PER_PULSE = WHEEL_DIAMETER * Math.PI
/ ENCODER_PULSES_PER_REVOLUTION;
}
// DRIVE METHODS
- public void setMotorValues(final double left, final double right) {
+ public void setMotorValues(double left, double right) {
+ left = MathLib.restrictToRange(left, 0.0, 1.0);
+ right = MathLib.restrictToRange(right, 0.0, 1.0);
+
frontLeft.set(left);
rearLeft.set(left);
package org.usfirst.frc.team3501.robot.subsystems;
import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.MathLib;
import com.ctre.CANTalon;
* from -1 to 1
*/
private void setSpeed(double speed) {
+ speed = MathLib.restrictToRange(speed, -1.0, 1.0);
intakeWheel.set(speed);
}
package org.usfirst.frc.team3501.robot.subsystems;
import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.MathLib;
import org.usfirst.frc.team3501.robot.utils.HallEffectSensor;
import com.ctre.CANTalon;
import edu.wpi.first.wpilibj.command.Subsystem;
public class Shooter extends Subsystem {
- public double wheelP = 0, wheelI = 0, wheelD = -0;
+ public double wheelP = 0.0003, wheelI = 0, wheelD = -0.00004;
private static Shooter shooter;
private static HallEffectSensor hallEffect;
private final CANTalon flyWheel1, flyWheel2, indexWheel;
- public static final double DEFAULT_INDEXING_SPEED = -0.75;
+ public static final double DEFAULT_INDEXING_SPEED = -1.0;
public static final double DEFAULT_SHOOTING_SPEED = 0.75;
public static double CURRENT_SHOOTING_SPEED = DEFAULT_SHOOTING_SPEED;
* @param val
* motor value from -1 to 1(fastest forward)
*/
- public void setFlyWheelMotorVal(final double val) {
+ public void setFlyWheelMotorVal(double val) {
+ val = MathLib.restrictToRange(val, 0.0, 1.0);
flyWheel1.set(val);
flyWheel2.set(val);
}
* @param val
* motor value from -1 to 1(fastest forward)
*/
- public void setIndexWheelMotorVal(final double val) {
+ public void setIndexWheelMotorVal(double val) {
+ val = MathLib.restrictToRange(val, -1.0, 1.0);
indexWheel.set(val);
}