From 601218ab7ca54b21ab85655b1c1e05e39905b694 Mon Sep 17 00:00:00 2001 From: "Keenan D. Buckley" Date: Thu, 14 Mar 2019 18:36:59 -0600 Subject: [PATCH] Debugging --- .../java/org/usfirst/frc4388/robot/OI.java | 4 ++-- .../usfirst/frc4388/robot/subsystems/Arm.java | 20 +++++++++++++------ 2 files changed, 16 insertions(+), 8 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 3c0342d..7b8cf7a 100644 --- a/2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java +++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java @@ -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); 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 8ae755d..5dba782 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 @@ -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"); } } }