team2059/ford-java
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Austen Adler 2016-09-19 12:14:01 -04:00
parent b9b0ee6628
commit 3128d3e31b
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1 changed files with 8 additions and 11 deletions
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src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
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@ -11,7 +11,6 @@ public class MainArm extends PIDSubsystem {
AnalogInput pot = new AnalogInput(RobotMap.armPot); AnalogInput pot = new AnalogInput(RobotMap.armPot);
DigitalInput limitSwitchBottom = new DigitalInput(RobotMap.armBottomLim); DigitalInput limitSwitchBottom = new DigitalInput(RobotMap.armBottomLim);
DigitalInput limitSwitchTop = new DigitalInput(RobotMap.armTopLim); DigitalInput limitSwitchTop = new DigitalInput(RobotMap.armTopLim);
public MainArm() { public MainArm() {
super("MainArm", 0.06, 0.0, 0.002); super("MainArm", 0.06, 0.0, 0.002);
getPIDController().setContinuous(false); getPIDController().setContinuous(false);
@ -38,20 +37,18 @@ public class MainArm extends PIDSubsystem {
return potToDegrees(getRaw()); return potToDegrees(getRaw());
} }
private double potToDegrees(double pot) { private double potToDegrees(double pot) {
System.out.println(limitSwitchBottom.get()); System.out.println(limitSwitchBottom.get());
if (!limitSwitchBottom.get()){ if (!limitSwitchBottom.get()) {
RobotMap.zeroDegrees = getRaw(); RobotMap.zeroDegrees = getRaw();
System.out.println("====Bottom Switch====\n" + getRaw()); System.out.println("====Bottom Switch====\n" + getRaw());
} else if (!limitSwitchTop.get()){ } else if (!limitSwitchTop.get()) {
RobotMap.ninetyDegrees = getRaw(); RobotMap.ninetyDegrees = getRaw();
System.out.println("====Top Switch====\n" + getRaw()); System.out.println("====Top Switch====\n" + getRaw());
}
}
double min = RobotMap.zeroDegrees; double min = RobotMap.zeroDegrees;
double max = RobotMap.ninetyDegrees; double max = RobotMap.ninetyDegrees;
System.out.println((pot - min) / (Math.abs(min - max) / 90)); System.out.println((pot - min) / (Math.abs(min - max) / 90));
return (pot - min) / (Math.abs(min - max) / 90); return (pot - min) / (Math.abs(min - max) / 90);
} }
} }
// vim: sw=2:ts=2:sts=2 // vim: sw=2:ts=2:sts=2