From cb8e86cb498c12dcf4e2b7a5916fc6f4926b77cf Mon Sep 17 00:00:00 2001 From: Cindy Zhang Date: Wed, 8 Mar 2017 16:14:52 -0800 Subject: [PATCH] driver practice changes --- src/org/usfirst/frc/team3501/robot/Constants.java | 8 ++++---- .../robot/commands/shooter/RunIndexWheelContinuous.java | 2 +- .../usfirst/frc/team3501/robot/subsystems/Shooter.java | 4 ++-- 3 files changed, 7 insertions(+), 7 deletions(-) diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java index cd699c4..d51dfe7 100644 --- 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 1bf1309..9594013 100644 --- 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 531e485..faca5dd 100644 --- 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; -- 2.30.2