From faabd6f8711d4f582a4fcec6f46bdee1ddd3d1cf Mon Sep 17 00:00:00 2001 From: Kevin Zhang Date: Mon, 22 Feb 2016 15:59:22 -0800 Subject: [PATCH] Correct ports --- .../usfirst/frc/team3501/robot/Constants.java | 23 +++++++++---------- .../team3501/robot/subsystems/DriveTrain.java | 19 +++++++-------- .../team3501/robot/subsystems/Shooter.java | 10 ++++---- 3 files changed, 26 insertions(+), 26 deletions(-) diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java index 881b07d6..4810e4b9 100644 --- a/src/org/usfirst/frc/team3501/robot/Constants.java +++ b/src/org/usfirst/frc/team3501/robot/Constants.java @@ -43,9 +43,9 @@ public class Constants { public static class DriveTrain { // Drivetrain Motor Related Ports public static final int FRONT_LEFT = 1; - public static final int FRONT_RIGHT = 4; + public static final int FRONT_RIGHT = 6; public static final int REAR_LEFT = 2; - public static final int REAR_RIGHT = 3; + public static final int REAR_RIGHT = 5; // Encoder related ports public final static int ENCODER_LEFT_A = 0; @@ -53,9 +53,6 @@ public class Constants { public final static int ENCODER_RIGHT_A = 9; public final static int ENCODER_RIGHT_B = 8; - public final static int FORWARD_CHANNEL = 0; - public final static int REVERSE_CHANNEL = 0; - public static final double INCHES_PER_PULSE = ((3.66 / 5.14) * 6 * Math.PI) / 256; @@ -64,8 +61,8 @@ public class Constants { public static double encoderTolerance = 8.0, gyroTolerance = 5.0; public static final int MANUAL_MODE = 1, ENCODER_MODE = 2, GYRO_MODE = 3; - public static final int LEFT_FORWARD = 0, LEFT_REVERSE = 1, - RIGHT_FORWARD = 2, RIGHT_REVERSE = 3; + public static final int LEFT_FORWARD = 6, LEFT_REVERSE = 5, + RIGHT_FORWARD = 0, RIGHT_REVERSE = 1; public static double time = 0; // Gearing constants @@ -79,8 +76,8 @@ public class Constants { public static class Scaler { // Piston channels - public final static int FORWARD_CHANNEL = 0; - public final static int REVERSE_CHANNEL = 1; + public final static int FORWARD_CHANNEL = 6; + public final static int REVERSE_CHANNEL = 0; // Winch port public final static int WINCH_MOTOR = 0; @@ -99,7 +96,7 @@ public class Constants { public static class Shooter { public static final int PORT = 0; - public static final int PUNCH_FORWARD = 0; + public static final int PUNCH_FORWARD = 5; public static final int PUNCH_REVERSE = 1; public static final int ANGLE_ADJUSTER_PORT = 0; @@ -109,8 +106,10 @@ public class Constants { // Encoder port public static final int ENCODER_PORT_A = 0; public static final int ENCODER_PORT_B = 0; - public static final int HOOD_FORWARD = 2; - public static final int HOOD_REVERSE = 3; + public static final int RIGHT_HOOD_FORWARD = 2; + public static final int RIGHT_HOOD_REVERSE = 4; + public static final int LEFT_HOOD_FORWARD = 4; + public static final int LEFT_HOOD_REVERSE = 2; public static final double DEFAULT_SHOOTER_SPEED = 0.5; diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java index 203078cc..5fa52933 100644 --- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java +++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java @@ -62,9 +62,10 @@ public class DriveTrain extends PIDSubsystem { this.disable(); gyro.start(); - leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.LEFT_FORWARD, + leftGearPiston = new DoubleSolenoid(10, Constants.DriveTrain.LEFT_FORWARD, Constants.DriveTrain.LEFT_REVERSE); - rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.RIGHT_FORWARD, + rightGearPiston = new DoubleSolenoid(10, + Constants.DriveTrain.RIGHT_FORWARD, Constants.DriveTrain.RIGHT_REVERSE); Constants.DriveTrain.inverted = false; } @@ -196,10 +197,10 @@ public class DriveTrain extends PIDSubsystem { /* * Method is a required method that the PID Subsystem uses to return the * calculated PID value to the driver - * + * * @param Gives the user the output from the PID algorithm that is calculated * internally - * + * * Body: Uses the output, does some filtering and drives the robot */ @Override @@ -227,7 +228,7 @@ public class DriveTrain extends PIDSubsystem { /* * Checks the drive mode - * + * * @return the current state of the robot in each state Average distance from * both sides of tank drive for Encoder Mode Angle from the gyro in GYRO_MODE */ @@ -259,9 +260,9 @@ public class DriveTrain extends PIDSubsystem { /* * constrains the distance to within -100 and 100 since we aren't going to * drive more than 100 inches - * + * * Configure Encoder PID - * + * * Sets the setpoint to the PID subsystem */ public void driveDistance(double dist, double maxTimeOut) { @@ -301,10 +302,10 @@ public class DriveTrain extends PIDSubsystem { /* * Turning method that should be used repeatedly in a command - * + * * First constrains the angle to within -360 and 360 since that is as much as * we need to turn - * + * * Configures Gyro PID and sets the setpoint as an angle */ public void turnAngle(double angle) { diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java index 6e0c7acf..7b6ef174 100755 --- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java +++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java @@ -30,11 +30,11 @@ public class Shooter extends Subsystem { public Shooter() { shooter = new CANTalon(Constants.Shooter.PORT); - hood1 = new DoubleSolenoid(Constants.Shooter.HOOD_FORWARD, - Constants.Shooter.HOOD_REVERSE); - hood2 = new DoubleSolenoid(Constants.Shooter.HOOD_FORWARD, - Constants.Shooter.HOOD_REVERSE); - punch = new DoubleSolenoid(Constants.Shooter.PUNCH_FORWARD, + hood1 = new DoubleSolenoid(10, Constants.Shooter.RIGHT_HOOD_FORWARD, + Constants.Shooter.RIGHT_HOOD_REVERSE); // right + hood2 = new DoubleSolenoid(9, Constants.Shooter.LEFT_HOOD_FORWARD, + Constants.Shooter.LEFT_HOOD_REVERSE);// left + punch = new DoubleSolenoid(9, Constants.Shooter.PUNCH_FORWARD, Constants.Shooter.PUNCH_REVERSE); encoder = new Encoder(Constants.Shooter.ENCODER_PORT_A, -- 2.30.2