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Update Robot.java #2

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10 changes: 6 additions & 4 deletions src/org/usfirst/frc/team5781/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.ADXRS450_Gyro;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.DoubleSolenoid;

/*
* Simplest program to drive a robot with mecanum drive using a single Logitech
Expand All @@ -21,15 +22,15 @@ public class Robot extends IterativeRobot {
RobotDrive m_robotDrive = new RobotDrive(1, 2, 3, 4);

// Define joystick being used at USB port 1 on the Driver Station
Joystick m_driveStick = new Joystick(1);
Joystick m_driveStick = new Joystick(0);

// Create a special gyro controller object
ADXRS450_Gyro m_gyro = new ADXRS450_Gyro();

// Keeps track of time state was entered
Timer m_autonStateTimer;

DoubleSolenoid m_dsol = DoubleSolenoid(0,1);
DoubleSolenoid m_dsol = new DoubleSolenoid(0,1);

// List of possible states
enum AutonState {
Expand Down Expand Up @@ -139,13 +140,14 @@ public double dumpInput(double x) {

x = 0.9*x + (0.1 * sign);
x = x * Math.abs(x);
returtn x;
return x;
}

public void teleopPeriodic() {
double x = dumpInput( m_driveStick.getX() );
double y = dumpInput( m_driveStick.getY() );
double z = dumpInput( m_driveStick.getTwist() );
// The z axis is inverted
double z = -dumpInput( m_driveStick.getTwist() );

m_robotDrive.mecanumDrive_Cartesian(x, z, y, 0);
//m_gyro.getAngle());
Expand Down