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Added method for setting initial Angle below 0 deg

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Added to robot.java in robot initial to make initial angle correct
This commit is contained in:
mayabartels
2019-01-28 16:03:16 -08:00
parent e9df63ded0
commit 260699ef4a
2 changed files with 18 additions and 12 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/Robot.java
+9 -10
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@@ -49,8 +49,10 @@ public class Robot extends IterativeRobot
private Command RRautonomousCommand;
private Command RLautonomousCommand;
private Command LRautonomousCommand;
private Command LLautonomousCommand;
private Command LLautonomousCommand;
public static final double OriginalDegreesWrist = arm.ENCODER_TICKS_TO_DEGREES;
public void robotInit()
{
//Printing game data to riolog
@@ -70,16 +72,13 @@ public class Robot extends IterativeRobot
operationModeChooser.addDefault("Test", OperationMode.TEST);
operationModeChooser.addObject("Competition", OperationMode.COMPETITION);
SmartDashboard.putData("Operation Mode", operationModeChooser);
wrist.setInitAngle();
//ledLights.setAllLightsOn(false);
} catch (Exception e) {
}
catch (Exception e)
{
System.err.println("An error occurred in robotInit()");
}
}
2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java
+9 -2
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@@ -60,8 +60,8 @@ public class Wrist extends Subsystem
public static final double MIN_POSITION_INCHES = 0.0;
public static final double MAX_POSITION_INCHES = 83.4;
public static final double MIN_ANGLE_DEGREES = 0.0; ////FIND ANGLE VALUES
public static final double MAX_ANGLE_DEGREES = 0.0;
public static final double MIN_ANGLE_DEGREES = -3; ////FIND ANGLE VALUES
public static final double MAX_ANGLE_DEGREES = 3;
public static final double JOYSTICK_INCHES_PER_MS_HI = 0.75;
public static final double JOYSTICK_INCHES_PER_MS_LO = JOYSTICK_INCHES_PER_MS_HI/3.68 * 0.8;
@@ -89,6 +89,13 @@ public class Wrist extends Subsystem
}
}
//Set the degree to negative angle after initializing
public void setInitAngle()
{
double armAngleToHoriz = 70;
double initAngle = ENCODER_TICKS_TO_DEGREES - armAngleToHoriz;
}
//Method for setting the control mode for the wrist
private synchronized void setWristControlMode(WristControlMode controlMode)
{