Heartland Day 1

FIRST1939 · Mar 10, 2018 · 625f729 · 625f729
2 parents 1c61844 + d34f8d2
commit 625f729
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Showing 3 changed files with 26 additions and 1 deletion.
diff --git a/src/main/java/com/frcteam1939/powerup2018/robot/commands/drivetrain/DriveByJoystick.java b/src/main/java/com/frcteam1939/powerup2018/robot/commands/drivetrain/DriveByJoystick.java
@@ -22,12 +22,25 @@ protected void execute() {
  double rotate = Robot.oi.right.getX();
  double climberValue = 0;
 
+<<<<<<< HEAD
  boolean slowDown = Robot.oi.left.getRawButton(1) || Robot.oi.right.getRawButton(1);
+=======
+ boolean turbo = (Robot.oi.left.getRawButton(1) || Robot.oi.right.getRawButton(1)) && Robot.elevator.getHeight() < 30;
+ boolean slowDown = Robot.oi.right.getRawButton(3);
+ boolean isCenter = Robot.oi.left.getRawButton(4);
+>>>>>>> origin/master
 
  if (Math.abs(move) < DEAD_BAND) {
  move = 0;
  } else {
+<<<<<<< HEAD
  if (slowDown) {
+=======
+
+ if (turbo) {
+ move = map(move, 0, 1.0);
+ } else {
+>>>>>>> origin/master
  move = map(move, 0, 0.5);
  } else {
  move = map(move, 0, 1.0);
@@ -50,13 +63,23 @@ protected void execute() {
  if (Robot.oi.left.getRawButton(10)) {
  climberValue = -0.5;
  }
+<<<<<<< HEAD
 
  if (Robot.oi.left.getRawButton(6) || Robot.oi.left.getRawButton(7)) {
  climberValue = 0;
  }
 
  Robot.drivetrain.drive(move, rotate);
  Robot.climber.set(climberValue);
+=======
+ if (isCenter) {
+ Robot.vision.center();
+ }else {
+ Robot.drivetrain.drive(move, rotate);
+ Robot.climber.set(climber);
+ }
+
+>>>>>>> origin/master
  }
 
  @Override

diff --git a/...java/com/frcteam1939/powerup2018/robot/commands/smartdashboard/SmartDashboardUpdater.java b/...java/com/frcteam1939/powerup2018/robot/commands/smartdashboard/SmartDashboardUpdater.java
@@ -43,6 +43,8 @@ protected void execute() {
  // SmartDashboard.putNumber("Vision X", Robot.vision.getX());
 
  SmartDashboard.putBoolean("Have Cube", Robot.cubeManipulator.haveCube());
+
+ SmartDashboard.putNumber("Vision X", Robot.vision.getX());
 
  SmartDashboard.putBoolean("Is Raising", Robot.elevator.isRaising());
  SmartDashboard.putBoolean("Is Lowering", Robot.elevator.isLowering());

diff --git a/src/main/java/com/frcteam1939/powerup2018/robot/subsystems/Vision.java b/src/main/java/com/frcteam1939/powerup2018/robot/subsystems/Vision.java
@@ -50,7 +50,7 @@ public int getX() {
 
  public void center() {
  double error = this.center - this.getX();
- while (error != 0) {
+ while (error <-2 && error >2) {
  double move = Robot.oi.left.getY();
  if (move <= 0.1) {
  move = 0;