From 7e5c0f21300c119007f272e16e8cd0756b41582a Mon Sep 17 00:00:00 2001 From: "Keenan D. Buckley" Date: Thu, 14 Mar 2019 18:46:16 -0600 Subject: [PATCH] debug --- .../usfirst/frc4388/robot/subsystems/Arm.java | 18 ++++++++++-------- 1 file changed, 10 insertions(+), 8 deletions(-) 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 5dba782..88e0472 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 @@ -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); } }