Remove sendable choosers, fix joystick driving bug, use right twist instead of right...

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index 2b58d19d22d5f41dfce87d95c7ab1dd98b0fc04c..e3b51888b5f6a2d65cfb531616bd73db08f33f9d 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -10,7 +10,6 @@ import edu.wpi.first.wpilibj.CameraServer;
 import edu.wpi.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.command.Scheduler;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 public class Robot extends IterativeRobot {
   public static OI oi;
@@ -30,38 +29,21 @@ public class Robot extends IterativeRobot {
 
     oi = new OI();
 
-    initializeSendableChooser();
-    addFrontChooserOptions();
-    sendSendableChooserToSmartDashboard();
-
     camera = CameraServer.getInstance();
-    camera.setQuality(50);
+    camera.setQuality(25);
     camera.startAutomaticCapture("cam0");
   }
 
-  private void initializeSendableChooser() {
-    frontChooser = new SendableChooser();
-  }
-
-  private void addFrontChooserOptions() {
-    frontChooser.addDefault("Intake", false);
-    frontChooser.addObject("Shooter", true);
-  }
-
-  private void sendSendableChooserToSmartDashboard() {
-    SmartDashboard.putData("PositionChooser", frontChooser);
-  }
-
   @Override
   public void autonomousInit() {
-    // get options chosen from drop down menu
-    boolean flip = (boolean) frontChooser.getSelected();
-
-    if (flip) {
-      driveTrain.toggleFlipped();
-    }
-
-    Scheduler.getInstance().add(new TimeDrive(4, .7));
+    //
+    // Scheduler.getInstance().add(new
+    // MoveIntakeArm(Constants.IntakeArm.RETRACT));
+    // Scheduler.getInstance().add(new TimeDrive(1, .6));
+    // Scheduler.getInstance().add(new WaitCommand(1));
+    // Scheduler.getInstance().add(new
+    // MoveIntakeArm(Constants.IntakeArm.EXTEND));
+    Scheduler.getInstance().add(new TimeDrive(8, -.8));
   }
 
   @Override

diff --git a/src/org/usfirst/frc/team3501/robot/commands/driving/JoystickDrive.java b/src/org/usfirst/frc/team3501/robot/commands/driving/JoystickDrive.java
index c246ccfac9954a314437ca7ee4283e66d774d938..fe1a9726c1972025f04d504e7c55c3ef00480c62 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/driving/JoystickDrive.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/JoystickDrive.java
@@ -22,7 +22,7 @@ public class JoystickDrive extends Command {
   @Override
   protected void execute() {
     double left = -OI.leftJoystick.getY();
-    double right = -OI.rightJoystick.getX();
+    double right = -OI.rightJoystick.getTwist();
     Robot.driveTrain.drive(left, right);
   }
 

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index f1daa63772ded83dc26599c42a098148c79129a3..eb819f1cb37aa6ed900d2a18cc046bc0c8dcde73 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -198,7 +198,7 @@ public class DriveTrain extends PIDSubsystem {
     double k = (isFlipped() ? -1 : 1);
 
     // During teleop, leftY is throttle, rightX is twist.
-    robotDrive.arcadeDrive(-left * k, -right * k);
+    robotDrive.arcadeDrive(-left * k, -right);
   }
 
   public void setMotorSpeeds(double left, double right) {