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Changed more Elevator to arm

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mayabartels
2019-01-22 14:46:56 -08:00
parent f364065fec
commit c6700a3560
2 changed files with 10 additions and 10 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/commands/ElevatorBasic.java → 2019robot/src/main/java/org/usfirst/frc4388/robot/commands/ArmBasic.java
+8 -8
View File
@@ -9,7 +9,7 @@ import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
public class ElevatorBasic extends Command { public class ArmBasic extends Command {
private double m_targetHeightInchesAboveFloor; private double m_targetHeightInchesAboveFloor;
private double m_speed; private double m_speed;
private boolean m_goingUp; private boolean m_goingUp;
@@ -18,7 +18,7 @@ public class ElevatorBasic extends Command {
private double m_lastCommandExecutePeriod = 0.0; private double m_lastCommandExecutePeriod = 0.0;
public static boolean isfinishedElevatorBasic; public static boolean isfinishedElevatorBasic;
public ElevatorBasic(double targetHeightInchesAboveFloor) { public ArmBasic(double targetHeightInchesAboveFloor) {
requires(Robot.arm); requires(Robot.arm);
m_targetHeightInchesAboveFloor = targetHeightInchesAboveFloor; m_targetHeightInchesAboveFloor = targetHeightInchesAboveFloor;
} }
@@ -33,10 +33,10 @@ public class ElevatorBasic extends Command {
m_goingUp = (m_targetHeightInchesAboveFloor > currentHeight); m_goingUp = (m_targetHeightInchesAboveFloor > currentHeight);
System.out.println("initialize(): cur=" + currentHeight + " , target=" + m_targetHeightInchesAboveFloor + " , going " + (m_goingUp ? "UP" : "DOWN")); System.out.println("initialize(): cur=" + currentHeight + " , target=" + m_targetHeightInchesAboveFloor + " , going " + (m_goingUp ? "UP" : "DOWN"));
if (m_goingUp) { if (m_goingUp) {
m_speed = Constants.kElevatorBasicPercentOutputUp; m_speed = Constants.kArmBasicPercentOutputUp;
} }
else { else {
m_speed = Constants.kElevatorBasicPercentOutputDown; m_speed = Constants.kArmBasicPercentOutputDown;
} }
m_commandInitTimestamp = Timer.getFPGATimestamp(); m_commandInitTimestamp = Timer.getFPGATimestamp();
@@ -50,14 +50,14 @@ System.out.println("initialize(): cur=" + currentHeight + " , target=" + m_targe
m_lastCommandExecutePeriod = currentTimestamp - m_lastCommandExecuteTimestamp; m_lastCommandExecutePeriod = currentTimestamp - m_lastCommandExecuteTimestamp;
} }
m_lastCommandExecuteTimestamp = currentTimestamp; m_lastCommandExecuteTimestamp = currentTimestamp;
Robot.elevator.rawSetOutput(m_speed); Robot.arm.rawSetOutput(m_speed);
//SmartDashboard.putNumber("DSB Period", m_lastCommandExecutePeriod); //SmartDashboard.putNumber("DSB Period", m_lastCommandExecutePeriod);
} }
// Make this return true when this Command no longer needs to run execute() // Make this return true when this Command no longer needs to run execute()
protected boolean isFinished() { protected boolean isFinished() {
boolean finished=false; boolean finished=false;
double currentHeight = Robot.elevator.getElevatorHeightInchesAboveFloor(); double currentHeight = Robot.arm.getArmHeightInchesAboveFloor();
double remaining = (m_targetHeightInchesAboveFloor - currentHeight) * (m_goingUp ? 1.0 : -1.0); double remaining = (m_targetHeightInchesAboveFloor - currentHeight) * (m_goingUp ? 1.0 : -1.0);
System.out.println("cur=" + currentHeight + " , remaining=" + remaining + " , target=" + m_targetHeightInchesAboveFloor); System.out.println("cur=" + currentHeight + " , remaining=" + remaining + " , target=" + m_targetHeightInchesAboveFloor);
if (remaining < 0.0) { if (remaining < 0.0) {
@@ -86,9 +86,9 @@ System.out.println("cur=" + currentHeight + " , remaining=" + remaining + " , ta
isfinishedElevatorBasic = isFinished(); isfinishedElevatorBasic = isFinished();
Robot.elevator.rawSetOutput(0.0); Robot.arm.rawSetOutput(0.0);
Robot.elevator.setControlMode(DriveControlMode.JOYSTICK); Robot.arm.setControlMode(DriveControlMode.JOYSTICK);
} }
// Called when another command which requires one or more of the same // Called when another command which requires one or more of the same
2019robot/src/main/java/org/usfirst/frc4388/robot/commands/ElevatorSetSpeed.java → 2019robot/src/main/java/org/usfirst/frc4388/robot/commands/ArmSetSpeed.java
+2 -2
View File
@@ -9,12 +9,12 @@ import edu.wpi.first.wpilibj.command.Command;
/** /**
* *
*/ */
public class ElevatorSetSpeed extends Command { public class ArmSetSpeed extends Command {
private double RaiseSpeed; private double RaiseSpeed;
// Constructor with speed // Constructor with speed
public ElevatorSetSpeed(double RaiseSpeed) { public ArmSetSpeed(double RaiseSpeed) {
this.RaiseSpeed = RaiseSpeed; this.RaiseSpeed = RaiseSpeed;
// requires(Robot.elevatorAuton); // requires(Robot.elevatorAuton);
} }