Team4388/2019-Hit-or-Miss
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added in ball intake motor and pnumatics

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lukesta182
2019-02-16 14:44:47 -07:00
parent b02c9b2cb1
commit 97e599da3e
3 changed files with 11 additions and 12 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java
+6 -6
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@@ -41,14 +41,14 @@ public class OI
m_driverXbox = new XboxController(RobotMap.DRIVER_JOYSTICK_1_USB_ID); m_driverXbox = new XboxController(RobotMap.DRIVER_JOYSTICK_1_USB_ID);
m_operatorXbox = new XboxController(RobotMap.OPERATOR_JOYSTICK_1_USB_ID); m_operatorXbox = new XboxController(RobotMap.OPERATOR_JOYSTICK_1_USB_ID);
/* XBoxTriggerButton CarriageIntake = new XBoxTriggerButton(m_operatorXbox, XBoxTriggerButton.LEFT_TRIGGER); XBoxTriggerButton CarriageIntake = new XBoxTriggerButton(m_operatorXbox, XBoxTriggerButton.LEFT_TRIGGER);
CarriageIntake.whenPressed(new IntakeSetSpeed(Carriage.CUBE_EJECT_SPEED)); CarriageIntake.whenPressed(new SetIntakeSpeed(BallIntake.BALL_INTAKE_SPEED));
CarriageIntake.whenReleased(new IntakeSetSpeed(0.0)); CarriageIntake.whenReleased(new SetIntakeSpeed(0.0));
XBoxTriggerButton CarriageEject = new XBoxTriggerButton(m_operatorXbox, XBoxTriggerButton.RIGHT_TRIGGER); XBoxTriggerButton CarriageEject = new XBoxTriggerButton(m_operatorXbox, XBoxTriggerButton.RIGHT_TRIGGER);
CarriageEject.whenPressed(new IntakeSetSpeed(Carriage.CUBE_INTAKE_SPEED)); CarriageEject.whenPressed(new SetIntakeSpeed(BallIntake.BALL_EXTAKE_SPEED));
CarriageEject.whenReleased(new IntakeSetSpeed(0.0)); CarriageEject.whenReleased(new SetIntakeSpeed(0.0));
*/
//JoystickButton endEfector = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.X_BUTTON); //JoystickButton endEfector = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.X_BUTTON);
//endEfector.toggleWhenActive(new WristPlacement(true)); //endEfector.toggleWhenActive(new WristPlacement(true));
2019robot/src/main/java/org/usfirst/frc4388/robot/RobotMap.java
+2 -3
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@@ -17,9 +17,8 @@ public class RobotMap {
public static final int DRIVETRAIN_RIGHT_MOTOR1_CAN_ID = 4; public static final int DRIVETRAIN_RIGHT_MOTOR1_CAN_ID = 4;
public static final int DRIVETRAIN_RIGHT_MOTOR2_CAN_ID = 5; public static final int DRIVETRAIN_RIGHT_MOTOR2_CAN_ID = 5;
//carriage motors //Intake motors
public static final int CARRIAGE_LEFT_MOTOR_CAN_ID = 8; public static final int INTAKE_BELT_DRIVE_CAN_ID = 8;
public static final int CARRIAGE_RIGHT_MOTOR_CAN_ID = 9;
//Elevator Motors //Elevator Motors
public static final int ELEVATOR_MOTOR1_ID = 6; public static final int ELEVATOR_MOTOR1_ID = 6;
2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/BallIntake.java
+3 -3
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@@ -21,8 +21,8 @@ public class BallIntake extends Subsystem {
private WPI_TalonSRX BallIntakeMain; private WPI_TalonSRX BallIntakeMain;
public static enum BallIntakeControlMode { JOYSTICK, MP_STRAIGHT, HOLD, MANUAL}; public static enum BallIntakeControlMode { JOYSTICK, MP_STRAIGHT, HOLD, MANUAL};
public static final double BALL_INTAKE_SPEED = 0.40; public static final double BALL_INTAKE_SPEED = -1.0;
public static final double BALL_EXTAKE_SPEED = -1.0; public static final double BALL_EXTAKE_SPEED = 1.0;
public static final double CUBE_STOP_SPEED = 0; public static final double CUBE_STOP_SPEED = 0;
/////^^^^^^^^^ replace this line with the modes we need /////^^^^^^^^^ replace this line with the modes we need
@@ -35,7 +35,7 @@ public class BallIntake extends Subsystem {
public BallIntake() { public BallIntake() {
try { try {
BallIntakeMain = new WPI_TalonSRX(RobotMap.CLIMBER_CAN_ID); BallIntakeMain = new WPI_TalonSRX(RobotMap.INTAKE_BELT_DRIVE_CAN_ID);
//\][carriageLeft.set(CurrentLimit, value); //\][carriageLeft.set(CurrentLimit, value);
} }