Team4388/2019-Hit-or-Miss
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Debugging

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This commit is contained in:
Keenan D. Buckley
2019-03-14 18:36:59 -06:00
parent f63cefd078
commit 601218ab7c
2 changed files with 16 additions and 8 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java
+2 -2
View File
@@ -72,8 +72,8 @@ public class OI
safteySwitch.whenReleased(new setClimberSafety(false));
JoystickButton setArmPosMode = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.B_BUTTON);
safteySwitch.whenPressed(new SetArmPositionMode(ArmPositionMode.CARGO));
safteySwitch.whenReleased(new SetArmPositionMode(ArmPositionMode.HATCH));
setArmPosMode.whenPressed(new SetArmPositionMode(ArmPositionMode.CARGO));
setArmPosMode.whenReleased(new SetArmPositionMode(ArmPositionMode.HATCH));
JoystickButton climbUp = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.RIGHT_TRIGGER_AXIS);
JoystickButton climbDown = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.LEFT_TRIGGER_AXIS);
2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java
+14 -6
View File
@@ -337,23 +337,31 @@ public class Arm extends Subsystem implements ControlLoopable
private void controlPidWithDPad(int dPadAngle){
if (armPositionMode == ArmPositionMode.HATCH){
if (dPadAngle == DPAD_UP){
updatePositionPID(HATCH_HIGH_POSITION_WORLD);
//updatePositionPID(HATCH_HIGH_POSITION_WORLD);
SmartDashboard.putString("DPAD", "HUP");
} else if (dPadAngle == DPAD_RIGHT){
updatePositionPID(HATCH_MID_POSITION_WORLD);
//updatePositionPID(HATCH_MID_POSITION_WORLD);
SmartDashboard.putString("DPAD", "HRIGHT");
} else if (dPadAngle == DPAD_DOWN){
updatePositionPID(HATCH_LOW_POSITION_WORLD);
//updatePositionPID(HATCH_LOW_POSITION_WORLD);
SmartDashboard.putString("DPAD", "HDOWN");
} else if (dPadAngle == DPAD_LEFT){
//updatePositionPID(HATCH_PICKUP_POSITION_WORLD);
SmartDashboard.putString("DPAD", "HLEFT");
}
} else if (armPositionMode == ArmPositionMode.CARGO){
if (dPadAngle == DPAD_UP){
updatePositionPID(CARGO_HIGH_POSITION_WORLD);
//updatePositionPID(CARGO_HIGH_POSITION_WORLD);
SmartDashboard.putString("DPAD", "CUP");
} else if (dPadAngle == DPAD_RIGHT){
updatePositionPID(CARGO_MID_POSITION_WORLD);
//updatePositionPID(CARGO_MID_POSITION_WORLD);
SmartDashboard.putString("DPAD", "CRIGHT");
} else if (dPadAngle == DPAD_DOWN){
updatePositionPID(CARGO_LOW_POSITION_WORLD);
//updatePositionPID(CARGO_LOW_POSITION_WORLD);
SmartDashboard.putString("DPAD", "CDOWN");
} else if (dPadAngle == DPAD_LEFT){
//updatePositionPID(CARGO_PICKUP_POSITION_WORLD);
SmartDashboard.putString("DPAD", "CLEFT");
}
}
}