Team4388/2019-Hit-or-Miss
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Merge branch 'develop' of https://github.com/Team4388/2019-Hit-or-Miss into develop

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lukesta182
2019-03-19 19:33:05 -06:00
parent fb35d43085 7589de6bd6
commit 53330ccd9a
2 changed files with 14 additions and 8 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java
+1 -1
View File
@@ -47,7 +47,7 @@ public class OI
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// opporator controller
// operator controller
2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java
+13 -7
View File
@@ -109,6 +109,12 @@ public class Arm extends Subsystem implements ControlLoopable
// Pneumatics
private Solenoid speedShift;
//DPad Buttons
static final int DPAD_UP = 0;
static final int DPAD_RIGHT = 90;
static final int DPAD_DOWN = 180;
static final int DPAD_LEFT = 270;
// Misc
public static final double AUTO_ZERO_MOTOR_CURRENT = 4.0;
private boolean isFinished;
@@ -279,29 +285,29 @@ public class Arm extends Subsystem implements ControlLoopable
public void dPadButtons(){
int dPadAngle = Robot.oi.getOperatorController().getDpadAngle();
if (placeMode == PlaceMode.HATCH){
if (dPadAngle == 0 && lastDPadAngle == -1){
if (dPadAngle == DPAD_UP && lastDPadAngle == -1){
new HatchHigh().start();
}
if (dPadAngle == 90 && lastDPadAngle == -1){
if (dPadAngle == DPAD_RIGHT && lastDPadAngle == -1){
new HatchMid().start();
}
if (dPadAngle == 180 && lastDPadAngle == -1){
if (dPadAngle == DPAD_DOWN && lastDPadAngle == -1){
new HatchLow().start();
}
}
if (placeMode == PlaceMode.CARGO) {
if (dPadAngle == 0 && lastDPadAngle == -1){
if (dPadAngle == DPAD_UP && lastDPadAngle == -1){
new CargoHigh().start();
}
if (dPadAngle == 90 && lastDPadAngle == -1){
if (dPadAngle == DPAD_RIGHT && lastDPadAngle == -1){
new CargoMid().start();
}
if (dPadAngle == 180 && lastDPadAngle == -1){
if (dPadAngle == DPAD_DOWN && lastDPadAngle == -1){
new CargoLow().start();
}
}
if (dPadAngle == 270 && lastDPadAngle == -1){
if (dPadAngle == DPAD_LEFT && lastDPadAngle == -1){
new StowArm().start();
}
SmartDashboard.putNumber("DPad Angle", dPadAngle);