team2059/ford-java
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This commit is contained in:
Adam Long 2016-10-15 20:43:18 +00:00
parent 54a7f87eb3
commit e5d5848f2a
3 changed files with 4 additions and 4 deletions
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1
src/org/usfirst/frc/team2059/robot/OI.java
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@ -58,6 +58,7 @@ public class OI {
// joystickButtons[1][5].whileHeld(new SetArmPosition(RobotMap.mainArmPresetLowShot)); // joystickButtons[1][5].whileHeld(new SetArmPosition(RobotMap.mainArmPresetLowShot));
joystickButtons[1][7].whileHeld(new MoveArm(1)); joystickButtons[1][7].whileHeld(new MoveArm(1));
joystickButtons[1][8].whileHeld(new MoveArm(-1)); joystickButtons[1][8].whileHeld(new MoveArm(-1));
joystickButtons[1][9].whileHeld(new SetArmPosition(110));
} }
public Joystick[] getJoysticks() { public Joystick[] getJoysticks() {
return joysticks; return joysticks;

5
src/org/usfirst/frc/team2059/robot/commands/shooter/AlignVertical.java
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@ -11,12 +11,11 @@ public class AlignVertical extends CommandBase {
} }
// Called just before this Command runs the first time // Called just before this Command runs the first time
protected void initialize() { protected void initialize() {
mainArm.setSetpoint(mainArm.getShooterAngleError()+50);
mainArm.enable();
} }
// Called repeatedly when this Command is scheduled to run // Called repeatedly when this Command is scheduled to run
protected void execute() { protected void execute() {
//Move the arm stop mainArm.setSetpoint(mainArm.getShooterAngleError()+50);
mainArm.enable();
} }
// Make this return true when this Command no longer needs to run execute() // Make this return true when this Command no longer needs to run execute()
protected boolean isFinished() { protected boolean isFinished() {

2
src/org/usfirst/frc/team2059/robot/commands/vision/AlignHorizontal.java
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@ -8,7 +8,7 @@ public class AlignHorizontal extends CommandBase {
error = visionHelper.getHorizontalError(); error = visionHelper.getHorizontalError();
driveBase.setDriveEnabled(false); driveBase.setDriveEnabled(false);
driveBase.resetGyro(); driveBase.resetGyro();
mainArm.setSetpoint(90); mainArm.setSetpoint(110);
mainArm.enable(); mainArm.enable();
} }
protected boolean isFinished() { protected boolean isFinished() {