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misc cleanup
author
Logan Howard
<logan@oflogan.com>
Sat, 18 Apr 2015 02:44:55 +0000
(19:44 -0700)
committer
Logan Howard
<logan@oflogan.com>
Sat, 18 Apr 2015 02:44:55 +0000
(19:44 -0700)
src/org/usfirst/frc/team3501/robot/OI.java
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src/org/usfirst/frc/team3501/robot/RobotMap.java
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src/org/usfirst/frc/team3501/robot/autons/PickUpContainer.java
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src/org/usfirst/frc/team3501/robot/subsystems/Arm.java
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src/org/usfirst/frc/team3501/robot/subsystems/Drivetrain.java
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diff --git
a/src/org/usfirst/frc/team3501/robot/OI.java
b/src/org/usfirst/frc/team3501/robot/OI.java
index 82c4217ab6229cc1dd87f966c5c72c2ed98ec013..1dc8e1ce52b3832a3a070c01b35b7c8de65ea4b3 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/OI.java
+++ b/
src/org/usfirst/frc/team3501/robot/OI.java
@@
-5,22
+5,21
@@
import java.util.Arrays;
import org.usfirst.frc.team3501.robot.commands.*;
public class OI {
import org.usfirst.frc.team3501.robot.commands.*;
public class OI {
+
private Joystick left, right;
public OI() {
left = new Joystick(RobotMap.LEFT_JOYSTICK_PORT);
right = new Joystick(RobotMap.RIGHT_JOYSTICK_PORT);
private Joystick left, right;
public OI() {
left = new Joystick(RobotMap.LEFT_JOYSTICK_PORT);
right = new Joystick(RobotMap.RIGHT_JOYSTICK_PORT);
- right.whenPressed(1, new CloseClaw());
+ right.whenPressed(1,
new CloseClaw());
right.whenReleased(1, new OpenClaw());
right.whenReleased(1, new OpenClaw());
-
- right.whenPressed(2, new ToggleClaw());
+ right.whenPressed(2, new ToggleClaw());
right.whenPressed(11, new TurnOffCompressor());
right.whenPressed(12, new TurnOffCompressor());
right.whenPressed(11, new TurnOffCompressor());
right.whenPressed(12, new TurnOffCompressor());
-
- right.whenPressed(7, new TurnOnCompressor());
- right.whenPressed(8, new TurnOnCompressor());
+ right.whenPressed(7, new TurnOnCompressor());
+ right.whenPressed(8, new TurnOnCompressor());
// potential bug point: this should "Just Work" because as soon as
// command stops running, left stick pos at 0 should take over...
// potential bug point: this should "Just Work" because as soon as
// command stops running, left stick pos at 0 should take over...
diff --git
a/src/org/usfirst/frc/team3501/robot/RobotMap.java
b/src/org/usfirst/frc/team3501/robot/RobotMap.java
index 5e73c6589c89aed2c68501fdba08e96637d7bfd9..2f2da695e89ff53a3bf1e9b99f15ec86c6461e6b 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/RobotMap.java
+++ b/
src/org/usfirst/frc/team3501/robot/RobotMap.java
@@
-3,6
+3,7
@@
package org.usfirst.frc.team3501.robot;
import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
public class RobotMap {
import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
public class RobotMap {
+
// driver station
public static final int LEFT_JOYSTICK_PORT = 0, RIGHT_JOYSTICK_PORT = 1;
// driver station
public static final int LEFT_JOYSTICK_PORT = 0, RIGHT_JOYSTICK_PORT = 1;
@@
-15,18
+16,18
@@
public class RobotMap {
public static final double MAX_DRIVE_SPEED = 0.7;
public static final double MAX_DRIVE_SPEED = 0.7;
- // claw
- public static final int CLAW_FORWARD_CHANNEL = 0, CLAW_REVERSE_CHANNEL = 1;
-
- public static final Value OPEN = Value.kForward, CLOSED = Value.kReverse;
-
// arm
public static final int LEFT_WINCH_ADDRESS = 2, RIGHT_WINCH_ADDRESS = 7;
public static final double ARM_ADJUST_SPEED = 0.3;
// arm
public static final int LEFT_WINCH_ADDRESS = 2, RIGHT_WINCH_ADDRESS = 7;
public static final double ARM_ADJUST_SPEED = 0.3;
+ // claw
+ public static final int CLAW_FORWARD_CHANNEL = 0, CLAW_REVERSE_CHANNEL = 1;
+
+ public static final Value OPEN = Value.kForward, CLOSED = Value.kReverse;
+
// auton
public static final double OVER_STEP_TIME = 1.2, OVER_STEP_SPEED = 0.7,
PAST_STEP_TIME = 1.5, PAST_STEP_SPEED = 0.5,
// auton
public static final double OVER_STEP_TIME = 1.2, OVER_STEP_SPEED = 0.7,
PAST_STEP_TIME = 1.5, PAST_STEP_SPEED = 0.5,
- PICKUP_TIME = 1.4, PICKUP_SPEED = 0.5;
+ PICKUP_TIME = 1.4, PICKUP_SPEED
= 0.5;
}
}
diff --git
a/src/org/usfirst/frc/team3501/robot/autons/PickUpContainer.java
b/src/org/usfirst/frc/team3501/robot/autons/PickUpContainer.java
index 9b08d1fa57930dcfde17503097101d301dcd174f..b930f124f29cd954783657d395022fc7a2ee5674 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/autons/PickUpContainer.java
+++ b/
src/org/usfirst/frc/team3501/robot/autons/PickUpContainer.java
@@
-1,5
+1,6
@@
package org.usfirst.frc.team3501.robot.autons;
package org.usfirst.frc.team3501.robot.autons;
+import org.usfirst.frc.team3501.robot.Robot;
import org.usfirst.frc.team3501.robot.RobotMap;
import org.usfirst.frc.team3501.robot.commands.*;
import org.usfirst.frc.team3501.robot.RobotMap;
import org.usfirst.frc.team3501.robot.commands.*;
@@
-10,6
+11,9
@@
public class PickUpContainer extends CommandGroup {
public PickUpContainer() {
super("PickUpContainer");
public PickUpContainer() {
super("PickUpContainer");
+ requires(Robot.arm);
+ requires(Robot.claw);
+
queueCommands();
}
queueCommands();
}
diff --git
a/src/org/usfirst/frc/team3501/robot/subsystems/Arm.java
b/src/org/usfirst/frc/team3501/robot/subsystems/Arm.java
index f42de1dfa0670af331e3521b4d5574f4c53efdf5..eb11c8aebcd555df8904f8931adbd2b0d7e91c3b 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/subsystems/Arm.java
+++ b/
src/org/usfirst/frc/team3501/robot/subsystems/Arm.java
@@
-34,7
+34,7
@@
public class Arm extends Subsystem {
left.set(0);
}
left.set(0);
}
- p
ublic
double getSpeedFromJoystick(double speed) {
+ p
rivate
double getSpeedFromJoystick(double speed) {
if (Math.abs(speed) < RobotMap.MIN_ARM_JOYSTICK_INPUT)
speed = 0;
if (Math.abs(speed) < RobotMap.MIN_ARM_JOYSTICK_INPUT)
speed = 0;
diff --git
a/src/org/usfirst/frc/team3501/robot/subsystems/Drivetrain.java
b/src/org/usfirst/frc/team3501/robot/subsystems/Drivetrain.java
index 90e78473d6971732bbc741ad769e4ec8bdb12809..1267f2c914935d5e18c4787f6a353d2f80feb17f 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/subsystems/Drivetrain.java
+++ b/
src/org/usfirst/frc/team3501/robot/subsystems/Drivetrain.java
@@
-25,7
+25,7
@@
public class Drivetrain extends Subsystem {
public void drive(double forward, double twist) {
if (Math.abs(forward) < RobotMap.MIN_DRIVE_JOYSTICK_INPUT)
forward = 0;
public void drive(double forward, double twist) {
if (Math.abs(forward) < RobotMap.MIN_DRIVE_JOYSTICK_INPUT)
forward = 0;
- if (Math.abs(twist) < RobotMap.MIN_DRIVE_JOYSTICK_INPUT)
+ if (Math.abs(twist)
< RobotMap.MIN_DRIVE_JOYSTICK_INPUT)
twist = 0;
robotDrive.arcadeDrive(
twist = 0;
robotDrive.arcadeDrive(