team2059/ford-java
2
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Possible case issue fix

Browse Source
This commit is contained in:
Austen Adler 2016-07-22 16:46:56 -04:00
parent e04f4ba346
commit d50d7e8556
2 changed files with 50 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

21
src/org/usfirst/frc/team2059/robot/subsystems/DriveBase.java Normal file
View File

@ -0,0 +1,21 @@
package org.usfirst.frc.team2059.robot.subsystems;
import org.usfirst.frc.team2059.robot.RobotMap;
import org.usfirst.frc.team2059.robot.commands.Drive;
import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.CANTalon;
public class DriveBase extends Subsystem {
CANTalon leftMotorOne = new CANTalon(RobotMap.driveLeftMotorOne);
CANTalon leftMotorTwo = new CANTalon(RobotMap.driveLeftMotorTwo);
CANTalon rightMotorOne = new CANTalon(RobotMap.driveRightMotorOne);
CANTalon rightMotorTwo = new CANTalon(RobotMap.driveRightMotorOne);
public void initDefaultCommand() {
setDefaultCommand(new Drive());
}
public void driveArcade(double x, double y, double z, double sensitivity) {
leftMotorOne.set(-y + (x + z));
leftMotorTwo.set(-y + (x + z));
rightMotorOne.set(y + (x + z));
rightMotorTwo.set(y + (x + z));
}
}
// vim: sw=2:ts=2:sts=2

29
src/org/usfirst/frc/team2059/robot/subsystems/EncoderBase.java Normal file
View File

@ -0,0 +1,29 @@
package org.usfirst.frc.team2059.robot.subsystems;
import org.usfirst.frc.team2059.robot.RobotMap;
import org.usfirst.frc.team2059.robot.commands.Drive;
import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.Encoder;
import org.usfirst.frc.team2059.robot.structs.EncoderValues;
public class EncoderBase extends Subsystem {
Encoder enc = new Encoder(0, 1, false, Encoder.EncodingType.k4X);
public void initDefaultCommand() {
//TODO: Not sure if we need a default command, not settingo one
//TODO: These are just defaults, they wil lneed to be changed
enc.setMaxPeriod(.1);
enc.setMinRate(10);
enc.setDistancePerPulse(5);
enc.setReverseDirection(false);
enc.setSamplesToAverage(7);
}
public void resetEncoder() {
enc.reset();
}
public EncoderValues getValues() {
//TODO: There are two ways to get distance:
//enc.getDistance();
//enc.getRaw();
//figure out which to use
return new EncoderValues(enc.get() , enc.getRaw() , enc.getPeriod() , enc.getRate() , enc.getDirection() , enc.getStopped());
}
}
// vim: sw=2:ts=2:sts=2