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Added wrist mode changing in OI

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mayabartels
2019-01-25 19:03:07 -08:00
parent 291abc6aa7
commit 7393656103
2 changed files with 45 additions and 10 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java
+6 -1
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@@ -16,6 +16,7 @@ import edu.wpi.first.wpilibj.buttons.*;
import org.usfirst.frc4388.robot.subsystems.*;
import org.usfirst.frc4388.utility.MPSoftwarePIDController.MPSoftwareTurnType;
import org.usfirst.frc4388.robot.subsystems.Drive;
import org.usfirst.frc4388.robot.subsystems.Wrist.WristControlMode;
import org.usfirst.frc4388.utility.MPSoftwarePIDController.MPSoftwareTurnType;
import edu.wpi.first.wpilibj.buttons.Button;
@@ -59,7 +60,11 @@ public class OI
JoystickButton shiftDown = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.LEFT_BUMPER_BUTTON);
shiftDown.whenPressed(new DriveSpeedShift(false));
// shiftDown.whenPressed(new LEDIndicators(false));
// shiftDown.whenPressed(new LEDIndicators(false));
//Wrist
JoystickButton wristManualMode = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.A_BUTTON);
wristManualMode.whenPressed(new WristSetMode(WristControlMode.JOYSTICK_MANUAL));
//Operator Xbox
2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java
+39 -9
View File
@@ -86,15 +86,6 @@ public class Wrist extends Subsystem
manualOverride = Robot.oi.getOperatorJoystick().getRawButton(XboxController.A_BUTTON);
if(manualOverride == true)
{
setWristControlMode(wristControlMode.JOYSTICK_MANUAL);
}
else if(manualOverride == false)
{
setWristControlMode(wristControlMode.PID);
}
while(getWristControlMode() == wristControlMode.JOYSTICK_MANUAL)
{
wristRight.set(wristJoystickInput);
@@ -163,6 +154,45 @@ public class Wrist extends Subsystem
{
wristRight.set(ControlMode.PercentOutput, speed);
setWristControlMode(wristControlMode.JOYSTICK_MANUAL);
}
//@Override
public void onLoop(double timestamp)
{
synchronized (Wrist.this) {
switch(getWristControlMode() ) {
case PID:
controlPidWithJoystick();
break;
case JOYSTICK_MANUAL:
controlManualWithJoystick();
break;
default:
break;
}
}
}
private void controlPidWithJoystick()
{
///CHANGE ACCORDING TO DIFFERENT LEVELS ON SPACESHIP
/*
//double joystickPosition = -Robot.oi.getOperatorController().getLeftYAxis();
//double deltaPosition = joystickPosition * joystickInchesPerMs;
targetPositionInchesPID = targetPositionInchesPID + deltaPosition;
updatePositionPID(targetPositionInchesPID);
*/
}
private void controlManualWithJoystick()
{
double joystickSpeed;
joystickSpeed = -Robot.oi.getOperatorController().getLeftYAxis();
setSpeedJoystick(joystickSpeed);
}
public synchronized boolean isFinished()