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added dumb method of stop retraction

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This commit is contained in:
Adam Long 2016-09-24 12:58:26 +00:00
parent a396a7200b
commit 4e86a8e6fa
4 changed files with 9 additions and 3 deletions
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2
src/org/usfirst/frc/team2059/robot/OI.java
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@ -45,7 +45,7 @@ public class OI {
joystickButtons[1][2].whileHeld(new ResetLower(-1)); joystickButtons[1][2].whileHeld(new ResetLower(-1));
joystickButtons[1][3].whileHeld(new SetArmPosition(RobotMap.mainArmPresetTraverse)); joystickButtons[1][3].whileHeld(new SetArmPosition(RobotMap.mainArmPresetTraverse));
joystickButtons[1][4].whileHeld(new SetArmPosition(RobotMap.mainArmPresetCloseShot)); joystickButtons[1][4].whileHeld(new SetArmPosition(RobotMap.mainArmPresetCloseShot));
joystickButtons[1][5].whileHeld(new SetArmPosition(RobotMap.mainArmPresetFarShot)); joystickButtons[1][5].whileHeld(new SetArmPosition(RobotMap.mainArmPresetLowShot));
joystickButtons[1][7].whileHeld(new SetArmStopState(true)); joystickButtons[1][7].whileHeld(new SetArmStopState(true));
// joystickButtons[1][10].whileHeld(new ResetLower(-1)); // joystickButtons[1][10].whileHeld(new ResetLower(-1));
// joystickButtons[1][11].whileHeld(new ResetUpper(1)); // joystickButtons[1][11].whileHeld(new ResetUpper(1));

7
src/org/usfirst/frc/team2059/robot/Robot.java
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@ -53,13 +53,18 @@ public class Robot extends IterativeRobot {
autonomousCommand.cancel(); autonomousCommand.cancel();
} }
CommandBase.pneumatics.setCompressorEnabled(true); CommandBase.pneumatics.setCompressorEnabled(true);
CommandBase.pneumatics.setArmStopState(true); CommandBase.pneumatics.setArmStopState(false);
} }
public void teleopPeriodic() { public void teleopPeriodic() {
Scheduler.getInstance().run(); Scheduler.getInstance().run();
SmartDashboard.putNumber("ArmAngleRaw", CommandBase.mainArm.getRaw()); SmartDashboard.putNumber("ArmAngleRaw", CommandBase.mainArm.getRaw());
SmartDashboard.putNumber("ArmAngleDegrees", CommandBase.mainArm.getDegrees()); SmartDashboard.putNumber("ArmAngleDegrees", CommandBase.mainArm.getDegrees());
SmartDashboard.putNumber("tmpRotations", CommandBase.driveBase.getLeftRotations()); SmartDashboard.putNumber("tmpRotations", CommandBase.driveBase.getLeftRotations());
if (Robot.oi.getJoysticks()[1].getRawButton(3)){
CommandBase.pneumatics.setArmStopState(true);
} else {
CommandBase.pneumatics.setArmStopState(false);
}
CommandBase.pneumatics.setCompressorEnabled(SmartDashboard.getBoolean("CompressorEnabled")); CommandBase.pneumatics.setCompressorEnabled(SmartDashboard.getBoolean("CompressorEnabled"));
System.out.println(CommandBase.mainArm.getDegrees()); System.out.println(CommandBase.mainArm.getDegrees());
} }

1
src/org/usfirst/frc/team2059/robot/RobotMap.java
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@ -29,6 +29,7 @@ public class RobotMap {
//Misc //Misc
public static int mainArmPresetCollect = -5; public static int mainArmPresetCollect = -5;
public static int mainArmPresetTraverse = 10; public static int mainArmPresetTraverse = 10;
public static int mainArmPresetLowShot= 30;
public static int mainArmPresetCloseShot = 90; public static int mainArmPresetCloseShot = 90;
public static int mainArmPresetFarShot = 70; public static int mainArmPresetFarShot = 70;
} }

2
src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
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@ -15,7 +15,7 @@ public class MainArm extends PIDSubsystem {
private double min = RobotMap.zeroDegrees; private double min = RobotMap.zeroDegrees;
private double max = RobotMap.ninetyDegrees; private double max = RobotMap.ninetyDegrees;
public MainArm() { public MainArm() {
super("MainArm", 0.3, 0.0, 0.4); super("MainArm", 0.07, 0.0, 0.00);
getPIDController().setContinuous(false); getPIDController().setContinuous(false);
setSetpoint(70); setSetpoint(70);
enable(); enable();