Team4388/2019-Hit-or-Miss
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should fix the issue with mayas code

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lukesta182
2019-01-28 15:55:49 -07:00
parent 021e5eab71
commit e9df63ded0
2 changed files with 10 additions and 47 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java
+1 -8
View File
@@ -15,7 +15,6 @@ import com.ctre.phoenix.motorcontrol.ControlMode;
import com.ctre.phoenix.motorcontrol.FeedbackDevice;
import com.ctre.phoenix.motorcontrol.can.TalonSRX;
import edu.wpi.first.wpilibj.Solenoid;
import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -30,10 +29,6 @@ public class Arm extends Subsystem implements Loop
public static final double ENCODER_TICKS_TO_DEGREES = (36.0 / 12.0) * (36.0 / 24.0) * (34.0 / 24.0) * 4096.0 / (1.88 * Math.PI);
// Defined speeds
public static final double CLIMB_SPEED = -1.0;
public static final double TEST_SPEED_UP = 0.3;
public static final double TEST_SPEED_DOWN = -0.3;
public static final double AUTO_ZERO_SPEED = -0.3;
public static final double JOYSTICK_INCHES_PER_MS_HI = 0.75;
// Defined positions
@@ -63,8 +58,6 @@ public class Arm extends Subsystem implements Loop
public static int MP_SLOT = 1;
private PIDParams mpPIDParams = new PIDParams(0.2, 0.0, 0.0, 0.0, 0.005, 0.0);
private PIDParams pidPIDParamsHiGear = new PIDParams(0.075, 0.0, 0.0, 0.0, 0.0, 0.0);
private PIDParams pidPIDParamsLoGear = new PIDParams(0.45, 0.0, 0.0, 0.0, 0.0, 0.0);
public static final double KF_UP = 0.005;
public static final double KF_DOWN = 0.0;
public static final double PID_ERROR_INCHES = 1.0;
@@ -79,7 +72,7 @@ public class Arm extends Subsystem implements Loop
private boolean firstMpPoint;
private Arm() {
public Arm() {
try {
motor1 = new CANTalonEncoder(RobotMap.ARM_MOTOR1_ID, ENCODER_TICKS_TO_DEGREES, FeedbackDevice.QuadEncoder);
//motor2 = CANTallon.createPermanentSlaveTalon(RobotMap.ARM_MOTOR_2_CAN_ID, RobotMap.ELEVATOR_MOTOR_1_CAN_ID);
2019robot/src/main/java/org/usfirst/frc4388/utility/Loop.java
+9 -39
View File
@@ -1,44 +1,14 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package org.usfirst.frc4388.utility;
import edu.wpi.first.wpilibj.command.Command;
/**
* Interface for loops, which are routine that run periodically in the robot code (such as periodic gyroscope
* calibration, etc.)
*/
public interface Loop {
public class Loop extends Command {
public Loop() {
// Use requires() here to declare subsystem dependencies
// eg. requires(chassis);
}
public void onStart(double timestamp);
// Called just before this Command runs the first time
@Override
protected void initialize() {
}
public void onLoop(double timestamp);
// Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
}
// Make this return true when this Command no longer needs to run execute()
@Override
protected boolean isFinished() {
return false;
}
// Called once after isFinished returns true
@Override
protected void end() {
}
// Called when another command which requires one or more of the same
// subsystems is scheduled to run
@Override
protected void interrupted() {
}
}
public void onStop(double timestamp);
}