Team4388/2019-Hit-or-Miss
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Update Arm.java

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This commit is contained in:
Keenan D. Buckley
2019-03-09 13:28:14 -07:00
parent 623e736cd6
commit 3e704f3725
1 changed files with 11 additions and 9 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java
+11 -9
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@@ -301,7 +301,9 @@ public class Arm extends Subsystem implements ControlLoopable
lastControlLoopUpdateTimestamp = currentTimestamp;
if (reverseLimitSwitch.get()){
motor1.setPosition(0);
motor1.setPosition((int) MIN_POSITION_INCHES);
} else if (forwardLimitSwitch.get()){
motor1.setPosition((int) MAX_POSITION_INCHES);
}
// Do the update
@@ -336,23 +338,23 @@ public class Arm extends Subsystem implements ControlLoopable
private void controlPidWithDPad(int dPadAngle){
if (armPositionMode == ArmPositionMode.HATCH){
if (dPadAngle == DPAD_UP){
setPositionPID(HATCH_HIGH_POSITION_WORLD);
updatePositionPID(HATCH_HIGH_POSITION_WORLD);
} else if (dPadAngle == DPAD_RIGHT){
setPositionPID(HATCH_MID_POSITION_WORLD);
updatePositionPID(HATCH_MID_POSITION_WORLD);
} else if (dPadAngle == DPAD_DOWN){
setPositionPID(HATCH_LOW_POSITION_WORLD);
updatePositionPID(HATCH_LOW_POSITION_WORLD);
} else if (dPadAngle == DPAD_LEFT){
//setPositionPID(HATCH_PICKUP_POSITION_WORLD);
//updatePositionPID(HATCH_PICKUP_POSITION_WORLD);
}
} else if (armPositionMode == ArmPositionMode.CARGO){
if (dPadAngle == DPAD_UP){
setPositionPID(CARGO_HIGH_POSITION_WORLD);
updatePositionPID(CARGO_HIGH_POSITION_WORLD);
} else if (dPadAngle == DPAD_RIGHT){
setPositionPID(CARGO_MID_POSITION_WORLD);
updatePositionPID(CARGO_MID_POSITION_WORLD);
} else if (dPadAngle == DPAD_DOWN){
setPositionPID(CARGO_LOW_POSITION_WORLD);
updatePositionPID(CARGO_LOW_POSITION_WORLD);
} else if (dPadAngle == DPAD_LEFT){
//setPositionPID(CARGO_PICKUP_POSITION_WORLD);
//updatePositionPID(CARGO_PICKUP_POSITION_WORLD);
}
}
}