driver practice changes

diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java
index cd699c460675405b6ea42a2c596f013c4dd92ce9..d51dfe76479c73135d26c9d7c0afcedaaddbf3eb 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -36,8 +36,8 @@ public class Constants {
 
     public final static int HALL_EFFECT_PORT = 9;
 
-    public static final int MODULE_NUMBER = 10, PISTON_FORWARD = 7,
-        PISTON_REVERSE = 8;
+    public static final int MODULE_NUMBER = 10, PISTON_FORWARD = 4,
+        PISTON_REVERSE = 5;
     public static final Value HIGH_GEAR = DoubleSolenoid.Value.kForward;
     public static final Value LOW_GEAR = DoubleSolenoid.Value.kReverse;
   }
@@ -45,8 +45,8 @@ public class Constants {
   public static class DriveTrain {
     // GEARS
     public static final int PISTON_MODULE = 10, LEFT_GEAR_PISTON_FORWARD = 0,
-        LEFT_GEAR_PISTON_REVERSE = 1, RIGHT_GEAR_PISTON_FORWARD = 2,
-        RIGHT_GEAR_PISTON_REVERSE = 3;
+        LEFT_GEAR_PISTON_REVERSE = 1, RIGHT_GEAR_PISTON_FORWARD = 3,
+        RIGHT_GEAR_PISTON_REVERSE = 2;
     public static final Value HIGH_GEAR = DoubleSolenoid.Value.kForward;
     public static final Value LOW_GEAR = DoubleSolenoid.Value.kReverse;
 

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 1bf1309583fd06a0e5553ce95a2f1ac800d34094..95940130f11aac8c50ebc54dc29af5d2d13dcf76 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
@@ -34,7 +34,7 @@ public class RunIndexWheelContinuous extends Command {
 
   @Override
   protected void execute() {
-    if (timeSinceInitialized() % 1 == 0) {
+    if (timeSinceInitialized() % 0.5 <= 0.02) {
       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 531e485014ad72db5239612355b854e0ac6f9e9e..faca5ddac1c1e7b9caabab21298a932c8192e5d0 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -20,8 +20,8 @@ public class Shooter extends Subsystem {
   private PIDController wheelController;
 
   private static final double RPM_THRESHOLD = 10;
-  private static final double DEFAULT_INDEXING_MOTOR_VALUE = 0.75;
-  private static final double DEFAULT_SHOOTING_SPEED = 2800; // rpm
+  private static final double DEFAULT_INDEXING_MOTOR_VALUE = -0.75;
+  private static final double DEFAULT_SHOOTING_SPEED = 3100; // rpm
   private static final double SHOOTING_SPEED_INCREMENT = 50;
 
   private double targetShootingSpeed = DEFAULT_SHOOTING_SPEED;