Team4388/2019-Hit-or-Miss
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Merge branch 'develop' of https://github.com/Team4388/2019-Hit-or-Miss into develop

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lukesta182
2019-03-09 14:23:26 -07:00
parent 2a3e42aeff 82c8d7814e
commit 9852f11e2c
4 changed files with 18 additions and 16 deletions
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2019robot/src/main/java/org/usfirst/frc4388/controller/IHandController.java
+2
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@@ -13,4 +13,6 @@ public interface IHandController {
public double getLeftTriggerAxis();
public double getRightTriggerAxis();
public int getDpadAngle();
}
2019robot/src/main/java/org/usfirst/frc4388/controller/XboxController.java
+8 -8
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@@ -149,20 +149,20 @@ public class XboxController implements IHandController
public boolean getDPadLeft(){
return (stick.getRawAxis(LEFT_RIGHT_DPAD_AXIS) < LEFT_DPAD_TOLERANCE);
}
}
public boolean getDPadRight(){
public boolean getDPadRight(){
return (stick.getRawAxis(LEFT_RIGHT_DPAD_AXIS) > RIGHT_DPAD_TOLERANCE);
}
}
public boolean getDPadTop(){
public boolean getDPadTop(){
return (stick.getRawAxis(TOP_BOTTOM_DPAD_AXIS) < TOP_DPAD_TOLERANCE);
}
}
/*public boolean getDPadBottom(){
public boolean getDPadBottom(){
return (stick.getRawAxis(TOP_BOTTOM_DPAD_AXIS) > BOTTOM_DPAD_TOLERANCE);
}
*/
}
public boolean getLeftTrigger(){
return (getLeftTriggerAxis() > LEFT_TRIGGER_TOLERANCE);
}
2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java
+3 -4
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@@ -66,6 +66,9 @@ public class OI
//liftBallIntake.whenPressed(new HatchFlip(false));
liftBallIntake.whenPressed(new LiftBallDropHatch());
JoystickButton safteySwitch = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.START_BUTTON);
safteySwitch.whenPressed(new setClimberSafety(true));
safteySwitch.whenReleased(new setClimberSafety(false));
JoystickButton climbUp = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.RIGHT_TRIGGER_AXIS);
JoystickButton climbDown = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.LEFT_TRIGGER_AXIS);
@@ -95,10 +98,6 @@ public class OI
SmartDashboard.putData("run arm test", new ArmTest());
SmartDashboard.putData("wrist test", new wristTest());
JoystickButton safteySwitch = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.START_BUTTON);
safteySwitch.whenPressed(new setClimberSafety(true));
safteySwitch.whenReleased(new setClimberSafety(false));
//SmartDashboard.putData("PRE GAME!!!!", new PreGame());
} catch (Exception e) {
System.err.println("An error occurred in the OI constructor");
2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java
+5 -4
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@@ -273,7 +273,6 @@ public class Arm extends Subsystem implements ControlLoopable
// Do the update
if (armControlMode == ArmControlMode.JOYSTICK_MANUAL) {
controlManualWithJoystick();
}
else if (!isFinished) {
if (armControlMode == ArmControlMode.MOTION_PROFILE) {
@@ -282,9 +281,11 @@ public class Arm extends Subsystem implements ControlLoopable
}
if (armControlMode == ArmControlMode.JOYSTICK_PID){
//System.err.println(motor1.getControlMode());
controlPidWithJoystick();
if (Robot.oi.getOperatorController().getDpadAngle() == -1){
controlPidWithJoystick();
} else {
}
}
/*else if (armControlMode == ArmControlMode.MP_PATH_VELOCITY) {