Team4388/2019-Hit-or-Miss
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added automation

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lukesta182
2019-03-16 11:30:39 -06:00
parent 13c5b892fc
commit 52aaccf587
3 changed files with 12 additions and 8 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java
+8 -4
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@@ -60,10 +60,11 @@ public class OI
JoystickButton liftHatchIntake = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.RIGHT_BUMPER_BUTTON);
liftHatchIntake.whenPressed(new LiftHatchDropBall());
//liftHatchIntake.toggleWhenActive(new DeployBallIntake());
JoystickButton liftBallIntake = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.LEFT_BUMPER_BUTTON);
//liftBallIntake.whenPressed(new HatchFlip(false));
//liftBallIntake.toggleWhenActive(new HatchFlip(false));
//liftBallIntake.t
liftBallIntake.whenPressed(new LiftBallDropHatch());
JoystickButton safteySwitch = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.START_BUTTON);
@@ -94,8 +95,11 @@ public class OI
JoystickButton CloseIntake = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.RIGHT_BUMPER_BUTTON);
CloseIntake.whenPressed(new IntakePosition(false));
*/
JoystickButton lowheight = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.B_BUTTON);
lowheight.whenPressed(new GrabFromLoadingSatation());
JoystickButton lowHeight = new JoystickButton(m_operatorXbox.getJoyStick(),XboxController.LEFT_JOYSTICK_BUTTON);
lowHeight.whenPressed(new GrabFromLoadingSatation());
JoystickButton stow = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.B_BUTTON);
stow.whenPressed(new StowArm());
SmartDashboard.putData("switch to manuel", new SetManual());
SmartDashboard.putData("run arm test", new ArmTest());
2019robot/src/main/java/org/usfirst/frc4388/robot/commands/StowArm.java
+3 -3
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@@ -14,10 +14,10 @@ public class StowArm extends CommandGroup {
* Add your docs here.
*/
public StowArm() {
addSequential(new WristSetPositionPID(0), 1);
addParallel(new HatchFlip(false));
addSequential(new HatchFlip(false));
addParallel(new WristPlacement(true));
addSequential(new ArmSetPositionMM(10));
addParallel(new WristSetPositionPID(200), 2);
addSequential(new ArmSetPositionMM(50));
// Add Commands here:
// e.g. addSequential(new Command1());
// addSequential(new Command2());
2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java
+1 -1
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@@ -87,7 +87,7 @@ public class Wrist extends Subsystem implements ControlLoopable
public static final double KF_DOWN = 0.0;
public static final double P_Value = 3;
public static final double I_Value = 0.001;
public static final double D_Value = 200;
public static final double D_Value = 250;
public static final double RampRate = 0.0;
private PIDParams wristPIDParams = new PIDParams(P_Value, I_Value, D_Value, KF_DOWN); // KF gets updated later
public static final double PID_ERROR_INCHES = 150;