From: Harel Dor <hareldor@gmail.com>
Date: Thu, 10 Mar 2016 06:03:31 +0000 (-0800)
Subject: More competition updates, intake speed and joystick scaling
X-Git-Url: http://challenge-bot.com/repos/?p=3501%2Fstronghold-2016;a=commitdiff_plain;h=116863c576fd9df4b1369bfa1c5901e939a3fe74

More competition updates, intake speed and joystick scaling
---

diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java
index 3c27d488..923914bc 100644
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -41,6 +41,9 @@ public class Constants {
     public static final int ARCADE = 1;
     public static final int DRIVE_TYPE = TANK;
 
+    // Limits changes in speed during joystick driving
+    public static final double kADJUST = 8;
+
     // Drivetrain Motor related ports
     public static final int DRIVE_FRONT_LEFT = 1;
     public static final int DRIVE_REAR_LEFT = 2;
@@ -103,7 +106,7 @@ public class Constants {
     public static final int OUT = -1;
 
     // for roller
-    public static final double INTAKE_SPEED = 0.5;
-    public static final double OUTPUT_SPEED = -0.5;
+    public static final double INTAKE_SPEED = 0.7;
+    public static final double OUTPUT_SPEED = -0.7;
   }
 }
diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index 8616cfa7..35bf8a58 100644
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,8 +1,6 @@
 package org.usfirst.frc.team3501.robot;
 
 import org.usfirst.frc.team3501.robot.commands.driving.SetHighGear;
-import org.usfirst.frc.team3501.robot.commands.intakearm.MoveIntakeArm;
-import org.usfirst.frc.team3501.robot.commands.shooter.ResetCatapult;
 import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
 import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
@@ -37,8 +35,6 @@ public class Robot extends IterativeRobot {
   @Override
   public void teleopInit() {
     Scheduler.getInstance().add(new SetHighGear());
-    Scheduler.getInstance().add(new ResetCatapult());
-    Scheduler.getInstance().add(new MoveIntakeArm(Constants.IntakeArm.EXTEND));
   }
 
   @Override
diff --git a/src/org/usfirst/frc/team3501/robot/commands/driving/ToggleFront.java b/src/org/usfirst/frc/team3501/robot/commands/driving/ToggleFront.java
index ee7cfc51..4c3d34fc 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/driving/ToggleFront.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/ToggleFront.java
@@ -16,7 +16,7 @@ public class ToggleFront extends Command {
   // Called just before this Command runs the first time
   @Override
   protected void initialize() {
-    Robot.driveTrain.switchGear();
+    Robot.driveTrain.toggleFlipped();
   }
 
   // Called repeatedly when this Command is scheduled to run
diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index eeac4900..3d406d7c 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -195,8 +195,18 @@ public class DriveTrain extends PIDSubsystem {
     int type = Constants.DriveTrain.DRIVE_TYPE;
     double k = (isFlipped() ? -1 : 1);
     if (type == Constants.DriveTrain.TANK) {
+      double leftSpeed = (-frontLeft.get() + -rearLeft.get()) / 2;
+      double rightSpeed = (-frontRight.get() + -rearRight.get()) / 2;
+      left = ((Constants.DriveTrain.kADJUST - 1) * leftSpeed + left)
+          / Constants.DriveTrain.kADJUST;
+      right = ((Constants.DriveTrain.kADJUST - 1) * rightSpeed + right)
+          / Constants.DriveTrain.kADJUST;
       robotDrive.tankDrive(-left * k, -right * k);
     } else if (type == Constants.DriveTrain.ARCADE) {
+      double speed = (-frontLeft.get() + -rearLeft.get() + -frontRight.get() + -rearRight
+          .get()) / 2;
+      left = ((Constants.DriveTrain.kADJUST - 1) * speed + left)
+          / Constants.DriveTrain.kADJUST;
       robotDrive.arcadeDrive(left * k, right);
     }
   }