From a68e434724e98b4d1563e0781e5b542075815c5a Mon Sep 17 00:00:00 2001 From: Harel Dor Date: Sat, 5 Mar 2016 18:51:44 -0800 Subject: [PATCH] Fix ports for first test --- .../usfirst/frc/team3501/robot/Constants.java | 26 ++++++++++--------- .../team3501/robot/subsystems/IntakeArm.java | 24 ++++++++--------- 2 files changed, 26 insertions(+), 24 deletions(-) diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java index bdfa1ad0..ae20a9f0 100644 --- 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 856db2bb..fab91f6e 100755 --- 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() { -- 2.30.2