From 4b90f82ec10add569c949d9c3132405391789273 Mon Sep 17 00:00:00 2001 From: HFocus Date: Mon, 18 Mar 2019 16:58:49 -0600 Subject: [PATCH] Reenable old code --- 2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java | 2 +- .../main/java/org/usfirst/frc4388/robot/subsystems/Arm.java | 2 +- .../main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java | 4 ++-- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java index 9e19634..7df5f21 100644 --- a/2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java +++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java @@ -122,7 +122,7 @@ public class OI //stow.whenPressed(new StowArm()); //stow.whenPressed(new setLEDPattern(LEDPatterns.SOLID_GREEN)); - //SmartDashboard.putData("switch to manuel", new SetManual()); + SmartDashboard.putData("switch to manuel", new SetManual()); // SmartDashboard.putData("run turn test", new TestTurn()); SmartDashboard.putData("grab from station", new GrabFromLoadingSatation()); SmartDashboard.putData("wrist test", new wristTest()); 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 2a70058..e1f0cb2 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 @@ -370,7 +370,7 @@ public class Arm extends Subsystem implements ControlLoopable double deltaPosition = joystickPosition * joystickInchesPerMs; targetPositionInchesMM = targetPositionInchesMM + deltaPosition; updatePositionMM(targetPositionInchesMM); - Robot.wrist.targetPositionInchesPID = targetPositionInchesPID - (deltaPosition/3); + //Robot.wrist.targetPositionInchesPID = targetPositionInchesPID - (deltaPosition/3); Robot.wrist.updatePositionPID(Robot.wrist.targetPositionInchesPID); diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java index 7ebb2be..4e27452 100644 --- a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java +++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java @@ -194,12 +194,12 @@ public class Wrist extends Subsystem implements ControlLoopable private double limitPosition(double targetPosition) { - /*if (targetPosition < MIN_POSITION_INCHES) { + if (targetPosition < MIN_POSITION_INCHES) { return MIN_POSITION_INCHES; } else if (targetPosition > MAX_POSITION_INCHES) { return MAX_POSITION_INCHES; - }*/ + } return targetPosition; }