Team4388/RiseOfRidgebotics2020
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mayabartels
2020-02-13 15:31:13 -08:00
parent 5bb1dbc397
commit 668b57a4f8
2 changed files with 10 additions and 10 deletions
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src/main/java/frc4388/robot/Constants.java
+5 -5
View File
@@ -66,15 +66,15 @@ public final class Constants {
}
public static final class IntakeConstants {
public static final int INTAKE_SPARK_ID = 9;
public static final int EXTENDER_SPARK_ID = 10;
public static final int INTAKE_SPARK_ID = -9;
public static final int EXTENDER_SPARK_ID = -10;
}
public static final class ShooterConstants {
/* Motor IDs */
public static final int SHOOTER_FALCON_ID = 8;
public static final int SHOOTER_ANGLE_ADJUST_ID = -1;
public static final int SHOOTER_ROTATE_ID = -2;
public static final int SHOOTER_ANGLE_ADJUST_ID = 9;
public static final int SHOOTER_ROTATE_ID = 10;
/* PID Constants Shooter */
public static final int SHOOTER_SLOT_IDX = 0;
@@ -88,7 +88,7 @@ public final class Constants {
}
public static final class ClimberConstants {
public static final int CLIMBER_SPARK_ID = 10;
public static final int CLIMBER_SPARK_ID = -1;
}
public static final class LevelerConstants {
src/main/java/frc4388/robot/RobotContainer.java
+5 -5
View File
@@ -76,11 +76,11 @@ public class RobotContainer {
// continually sends updates to the Blinkin LED controller to keep the lights on
m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
// runs the drum shooter in idle mode
m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runDrumShooter(0.15), m_robotShooter));
// m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runDrumShooter(0.15), m_robotShooter));
// drives the leveler with an axis input from the driver controller
m_robotLeveler.setDefaultCommand(new RunLevelerWithJoystick(m_robotLeveler, getDriverController()));
// m_robotLeveler.setDefaultCommand(new RunLevelerWithJoystick(m_robotLeveler, getDriverController()));
// runs storage motor at 50 percent
m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
// m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
}
/**
@@ -136,8 +136,8 @@ public class RobotContainer {
.whenPressed(new InstantCommand(() -> System.out.print("Gamer"), m_robotDrive));
/* TEST shooter rotate PIDs */
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whileHeld(new RunCommand(() -> m_robotShooter.runAngleAdjustPID(360, 0.2, 0.0, 0.0, 0.0, 0.0, 1, -1)));
new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON)
.whileHeld(new RunCommand(() -> m_robotShooter.runAngleAdjustPID(1, 0.2, 0.0, 0.0, 0.0, 0.0, 1, -1)));
new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
.whileHeld(new RunCommand(() -> m_robotShooter.runshooterRotatePID(360, 0.2, 0.0, 0.0, 0.0, 0.0, 1, -1)));
/* TEST for both commands above */