Fix ports for first test

diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java
index bdfa1ad03bda9eca2287533dfc64a757f9b19ee4..ae20a9f094594390fff09fe889f1a49ef5a98345 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -40,9 +40,9 @@ public class Constants {
     public final static int ENCODER_RIGHT_B = 4;
 
     public static final int LEFT_MODULE = PCM_MODULE_B;
-    public static final int LEFT_FORWARD = 6, LEFT_REVERSE = 5;
+    public static final int LEFT_FORWARD = 1, LEFT_REVERSE = 6;
     public static final int RIGHT_MODULE = PCM_MODULE_B;
-    public static final int RIGHT_FORWARD = 0, RIGHT_REVERSE = 1;
+    public static final int RIGHT_FORWARD = 0, RIGHT_REVERSE = 7;
 
     public static final double INCHES_PER_PULSE = ((3.66 / 5.14) * 6 * Math.PI) / 256;
 
@@ -55,13 +55,13 @@ public class Constants {
   }
 
   public static class Shooter {
-    public static final int CATAPULT1_MODULE = PCM_MODULE_B;
+    public static final int CATAPULT1_MODULE = PCM_MODULE_A;
     public static final int CATAPULT1_FORWARD = 0;
     public static final int CATAPULT1_REVERSE = 6;
-    public static final int CATAPULT2_MODULE = PCM_MODULE_B;
+    public static final int CATAPULT2_MODULE = PCM_MODULE_A;
     public static final int CATAPULT2_FORWARD = 1;
-    public static final int CATAPULT2_REVERSE = 7;// TODO Determine actual
-                                                  // shooter ports
+    public static final int CATAPULT2_REVERSE = 7;
+    // TODO Determine actual shooter ports
 
     public static final Value shoot = Value.kForward;
     public static final Value reset = Value.kReverse;
@@ -69,14 +69,16 @@ public class Constants {
   }
 
   public static class IntakeArm {
-    public static final int ROLLER_PORT = 3;
+    public static final int INTAKE_ROLLER_PORT = 3;
 
     // for pistons
-    public static final int LEFT_FORWARD = 0;
-    public static final int LEFT_REVERSE = 1;
-
-    public static final int RIGHT_FORWARD = 2;
-    public static final int RIGHT_REVERSE = 3;
+    public static final int LEFT_INTAKE_MODULE = PCM_MODULE_A;
+    public static final int LEFT_INTAKE_FORWARD = 0;
+    public static final int LEFT_INTAKE_REVERSE = 1;
+    public static final int RIGHT_INTAKE_MODULE = PCM_MODULE_A;
+    public static final int RIGHT_INTAKE_FORWARD = 2;
+    public static final int RIGHT_INTAKE_REVERSE = 3;
+    // TODO Determine actual intake ports
 
     public static final Value EXTEND = DoubleSolenoid.Value.kForward;
     public static final Value RETRACT = DoubleSolenoid.Value.kReverse;

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java b/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java
index 856db2bb139c5c23b0639783df255486eff9814b..fab91f6eaea1a56a493dfd800ac9dc5e040d4146 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java
@@ -9,13 +9,13 @@ import edu.wpi.first.wpilibj.command.Subsystem;
 /***
  * The IntakeArm consists of two rollers that are controlled by one motor, with
  * a potentiometer on it.
- *
+ * 
  * The motor controls the rollers, making them roll forwards and backwards. The
  * Intake rollers are on the back of the robot. As the rollers run, they intake
  * the ball.
- *
+ * 
  * @author superuser
- *
+ * 
  */
 
 public class IntakeArm extends Subsystem {
@@ -25,13 +25,13 @@ public class IntakeArm extends Subsystem {
   public static double moveIntakeArmSpeed = 0;
 
   public IntakeArm() {
-    intakeRoller = new CANTalon(Constants.IntakeArm.ROLLER_PORT);
+    intakeRoller = new CANTalon(Constants.IntakeArm.INTAKE_ROLLER_PORT);
 
-    leftIntake = new DoubleSolenoid(Constants.IntakeArm.LEFT_FORWARD,
-        Constants.IntakeArm.LEFT_REVERSE);
+    leftIntake = new DoubleSolenoid(Constants.IntakeArm.LEFT_INTAKE_MODULE,
+        Constants.IntakeArm.LEFT_INTAKE_FORWARD, Constants.IntakeArm.LEFT_INTAKE_REVERSE);
 
-    rightIntake = new DoubleSolenoid(Constants.IntakeArm.RIGHT_FORWARD,
-        Constants.IntakeArm.RIGHT_REVERSE);
+    rightIntake = new DoubleSolenoid(Constants.IntakeArm.RIGHT_INTAKE_MODULE,
+        Constants.IntakeArm.RIGHT_INTAKE_FORWARD, Constants.IntakeArm.RIGHT_INTAKE_REVERSE);
   }
 
   public void retractPistons() {
@@ -68,7 +68,7 @@ public class IntakeArm extends Subsystem {
    * This method gets you the current voltage of the motor that controls the
    * intake arm roller. The range of voltage is from [-1,1]. A negative voltage
    * makes the motor run backwards.
-   *
+   * 
    * @return Returns the voltage of the motor that controls the roller. The
    *         range of the voltage goes from [-1,1]. A negative voltage indicates
    *         that the motor is running backwards.
@@ -81,7 +81,7 @@ public class IntakeArm extends Subsystem {
   /***
    * This method checks to see if the presence of the ball inside is true or
    * false.
-   *
+   * 
    * @return Returns whether the ball is inside as true or false
    */
 
@@ -92,10 +92,10 @@ public class IntakeArm extends Subsystem {
   /***
    * This method checks to see if the motors controlling the rollers are
    * currently running.
-   *
+   * 
    * @return Returns whether the motors are currently running, and returns the
    *         state of the condition (true or false).
-   *
+   * 
    */
 
   public boolean areRollersRolling() {