team2059/ford-java
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This commit is contained in:
Austen Adler 2016-09-22 22:13:50 -04:00
parent 05d435c64c
commit 6055b2a879
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GPG Key ID: 7ECEE590CCDFE3F1
2 changed files with 6 additions and 6 deletions
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4
src/org/usfirst/frc/team2059/robot/commands/drivetrain/Drive.java
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@ -17,9 +17,9 @@ public class Drive extends CommandBase {
double x = Robot.oi.getJoysticks()[0].getRawAxis(0); double x = Robot.oi.getJoysticks()[0].getRawAxis(0);
double y = Robot.oi.getJoysticks()[0].getRawAxis(1); double y = Robot.oi.getJoysticks()[0].getRawAxis(1);
double z = Robot.oi.getJoysticks()[0].getRawAxis(2); double z = Robot.oi.getJoysticks()[0].getRawAxis(2);
if(Robot.oi.getJoysticks()[0].getRawButton(2)){ if (Robot.oi.getJoysticks()[0].getRawButton(2)) {
sensitivity = 1; sensitivity = 1;
}else{ } else {
sensitivity = 0.5; sensitivity = 0.5;
} }
driveBase.driveArcade(x, y, z, sensitivity); driveBase.driveArcade(x, y, z, sensitivity);

8
src/org/usfirst/frc/team2059/robot/subsystems/DriveBase.java
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@ -23,10 +23,10 @@ public class DriveBase extends Subsystem {
rightMotorTwo.set(0); rightMotorTwo.set(0);
} }
public void driveArcade(double x, double y, double z, double sensitivity) { public void driveArcade(double x, double y, double z, double sensitivity) {
leftMotorOne.set((-y + (x + z))*sensitivity); leftMotorOne.set((-y + (x + z)) * sensitivity);
leftMotorTwo.set((-y + (x + z))*sensitivity); leftMotorTwo.set((-y + (x + z)) * sensitivity);
rightMotorOne.set((y + (x + z))*sensitivity); rightMotorOne.set((y + (x + z)) * sensitivity);
rightMotorTwo.set((y + (x + z))*sensitivity); rightMotorTwo.set((y + (x + z)) * sensitivity);
} }
public void pidDrive(double setpoint) { public void pidDrive(double setpoint) {
leftEncoder.reset(); leftEncoder.reset();