From 0b025ff3677262f9ea22d0cb515b2c683f5f3e99 Mon Sep 17 00:00:00 2001 From: "Keenan D. Buckley" Date: Sat, 9 Mar 2019 16:29:28 -0700 Subject: [PATCH] Arm.java Cleanup --- .../src/main/java/org/usfirst/frc4388/robot/Robot.java | 2 +- .../main/java/org/usfirst/frc4388/robot/subsystems/Arm.java | 6 +++--- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/Robot.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/Robot.java index 82531b5..340d148 100644 --- a/2019robot/src/main/java/org/usfirst/frc4388/robot/Robot.java +++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/Robot.java @@ -99,7 +99,7 @@ public class Robot extends TimedRobot drive.resetEncoders(); drive.resetGyro(); drive.setIsRed(getAlliance().equals(Alliance.Red)); - arm.resetencoder(); + arm.resetEncoder(); } diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java index 2da4864..6eaa1b8 100644 --- a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java +++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java @@ -142,7 +142,7 @@ public class Arm extends Subsystem implements ControlLoopable public void resetZeroPosition(double position) { mpController.resetZeroPosition(position); } - public void resetencoder(){ + public void resetEncoder(){ motor1.setPosition(0); } @@ -175,7 +175,7 @@ public class Arm extends Subsystem implements ControlLoopable public void updatePositionPID(double targetPositionInches) { targetPositionInchesPID = limitPosition(targetPositionInches); if (limitPosition(motor1.getPositionWorld()) == MIN_POSITION_INCHES){ - resetencoder(); + resetEncoder(); } double startPositionInches = motor1.getPositionWorld(); //mpController.setTarget(targetPositionInchesPID, targetPositionInchesPID > startPositionInches ? KF_UP : KF_DOWN); @@ -276,7 +276,7 @@ public class Arm extends Subsystem implements ControlLoopable lastControlLoopUpdateTimestamp = currentTimestamp; if (motor1.getSensorCollection().isRevLimitSwitchClosed()){ - motor1.setPosition(0); + resetEncoder(); } // Do the update