From 5bf04716bb0c325177d42fe2b663938096484827 Mon Sep 17 00:00:00 2001 From: lukesta182 <33330639+lukesta182@users.noreply.github.com> Date: Sun, 17 Feb 2019 14:40:17 -0700 Subject: [PATCH] chanmged varables --- .../frc4388/robot/subsystems/Wrist.java | 34 +++++++++---------- 1 file changed, 16 insertions(+), 18 deletions(-) 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 3b3f427..bfb7817 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 @@ -73,8 +73,7 @@ public class Wrist extends Subsystem implements ControlLoopable // Motor controllers private ArrayList motorControllers = new ArrayList(); - private TalonSRXEncoder motor1; - private TalonSRX motor2; + private TalonSRXEncoder wristmotor1; // PID controller and params private MPTalonPIDController mpController; @@ -102,19 +101,19 @@ public class Wrist extends Subsystem implements ControlLoopable public Wrist() { try { - motor1 = TalonSRXFactory.createTalonEncoder(RobotMap.WRIST_MOTOR_ID, (ENCODER_TICKS_TO_INCHES), false, FeedbackDevice.QuadEncoder); + wristmotor1 = TalonSRXFactory.createTalonEncoder(RobotMap.WRIST_MOTOR_ID, (ENCODER_TICKS_TO_INCHES), false, FeedbackDevice.QuadEncoder); - motor1.setInverted(true); + wristmotor1.setInverted(true); // if (motor1.isSensorPresent(CANTalon.FeedbackDevice.QuadEncoder) != CANTalon.FeedbackDeviceStatus.FeedbackStatusPresent) { // Driver.reportError("Could not detect elevator motor 1 encoder encoder!", false); // } - motor1.configForwardLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0); - motor1.configReverseLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0); - motor1.setNeutralMode(NeutralMode.Brake); + wristmotor1.configForwardLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0); + wristmotor1.configReverseLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0); + wristmotor1.setNeutralMode(NeutralMode.Brake); - motorControllers.add(motor1); + motorControllers.add(wristmotor1); } @@ -140,12 +139,12 @@ public class Wrist extends Subsystem implements ControlLoopable } public void setSpeed(double speed) { - motor1.set(ControlMode.PercentOutput, speed*0.3); + wristmotor1.set(ControlMode.PercentOutput, speed*0.3); setWristControlMode(WristControlMode.MANUAL); } public void setSpeedJoystick(double speed) { - motor1.set(ControlMode.PercentOutput, speed); + wristmotor1.set(ControlMode.PercentOutput, speed); setWristControlMode(WristControlMode.JOYSTICK_MANUAL); } @@ -158,12 +157,12 @@ public class Wrist extends Subsystem implements ControlLoopable public void updatePositionPID(double targetPositionInches) { targetPositionInchesPID = limitPosition(targetPositionInches); - double startPositionInches = motor1.getPositionWorld(); + double startPositionInches = wristmotor1.getPositionWorld(); mpController.setTarget(targetPositionInchesPID, targetPositionInchesPID > startPositionInches ? KF_UP : KF_DOWN); } public void setPositionMP(double targetPositionInches) { - double startPositionInches = motor1.getPositionWorld(); + double startPositionInches = wristmotor1.getPositionWorld(); mpController.setMPTarget(startPositionInches, limitPosition(targetPositionInches), MP_MAX_VELOCITY_INCHES_PER_SEC, MP_T1, MP_T2); setFinished(false); firstMpPoint = true; @@ -281,7 +280,7 @@ public class Wrist extends Subsystem implements ControlLoopable } private void ControlWithJoystickhold(){ - double holdPosition = motor1.getPositionWorld(); + double holdPosition = wristmotor1.getPositionWorld(); updatePositionPID(holdPosition); } @@ -309,7 +308,7 @@ public class Wrist extends Subsystem implements ControlLoopable } */ public double getPositionInches() { - return motor1.getPositionWorld(); + return wristmotor1.getPositionWorld(); } // public double getAverageMotorCurrent() { @@ -317,7 +316,7 @@ public class Wrist extends Subsystem implements ControlLoopable // } public double getAverageMotorCurrent() { - return (motor1.getOutputCurrent() + motor2.getOutputCurrent()) / 2; + return (wristmotor1.getOutputCurrent()); } public synchronized boolean isFinished() { @@ -335,9 +334,8 @@ public class Wrist extends Subsystem implements ControlLoopable public void updateStatus(Robot.OperationMode operationMode) { if (operationMode == Robot.OperationMode.TEST) { try { - SmartDashboard.putNumber("Elevator Position Inches", motor1.getPositionWorld()); - SmartDashboard.putNumber("Elevator Motor 1 Amps", motor1.getOutputCurrent()); - SmartDashboard.putNumber("Elevator Motor 2 Amps", motor2.getOutputCurrent()); + SmartDashboard.putNumber("Elevator Position Inches", wristmotor1.getPositionWorld()); + SmartDashboard.putNumber("Elevator Motor 1 Amps", wristmotor1.getOutputCurrent()); SmartDashboard.putNumber("Elevator Average Amps", getAverageMotorCurrent()); // SmartDashboard.putNumber("Elevator Motor 1 Amps PDP", Robot.pdp.getCurrent(RobotMap.ELEVATOR_MOTOR_1_CAN_ID)); // SmartDashboard.putNumber("Elevator Motor 2 Amps PDP", Robot.pdp.getCurrent(RobotMap.ELEVATOR_MOTOR_2_CAN_ID));