Team4388/2019-Hit-or-Miss
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Keenan D. Buckley
2019-03-14 18:46:16 -06:00
parent 601218ab7c
commit 7e5c0f2130
1 changed files with 10 additions and 8 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java
+10 -8
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@@ -335,34 +335,36 @@ public class Arm extends Subsystem implements ControlLoopable
}
private void controlPidWithDPad(int dPadAngle){
String dpadbutton = "";
if (armPositionMode == ArmPositionMode.HATCH){
if (dPadAngle == DPAD_UP){
//updatePositionPID(HATCH_HIGH_POSITION_WORLD);
SmartDashboard.putString("DPAD", "HUP");
dpadbutton = "HUP";
} else if (dPadAngle == DPAD_RIGHT){
//updatePositionPID(HATCH_MID_POSITION_WORLD);
SmartDashboard.putString("DPAD", "HRIGHT");
dpadbutton = "HRIGHT";
} else if (dPadAngle == DPAD_DOWN){
//updatePositionPID(HATCH_LOW_POSITION_WORLD);
SmartDashboard.putString("DPAD", "HDOWN");
dpadbutton = "HDOWN";
} else if (dPadAngle == DPAD_LEFT){
//updatePositionPID(HATCH_PICKUP_POSITION_WORLD);
SmartDashboard.putString("DPAD", "HLEFT");
dpadbutton = "HLEFT";
}
} else if (armPositionMode == ArmPositionMode.CARGO){
if (dPadAngle == DPAD_UP){
//updatePositionPID(CARGO_HIGH_POSITION_WORLD);
SmartDashboard.putString("DPAD", "CUP");
dpadbutton = "CUP";
} else if (dPadAngle == DPAD_RIGHT){
//updatePositionPID(CARGO_MID_POSITION_WORLD);
SmartDashboard.putString("DPAD", "CRIGHT");
dpadbutton = "CRIGHT";
} else if (dPadAngle == DPAD_DOWN){
//updatePositionPID(CARGO_LOW_POSITION_WORLD);
SmartDashboard.putString("DPAD", "CDOWN");
dpadbutton = "CDOWN";
} else if (dPadAngle == DPAD_LEFT){
//updatePositionPID(CARGO_PICKUP_POSITION_WORLD);
SmartDashboard.putString("DPAD", "CLEFT");
dpadbutton = "CLEFT";
}
//SmartDashboard.putString("DPAD", dpadbutton);
}
}