CAN ID 4 Talon giving problems on drive train, replaced with CAN ID 2…

… Talon
team1635 · Mar 31, 2017 · 1e0f4cc · 1e0f4cc
1 parent e951196
commit 1e0f4cc
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Showing 8 changed files with 45 additions and 141 deletions.
diff --git a/src/org/usfirst/frc/team1635/robot/OI.java b/src/org/usfirst/frc/team1635/robot/OI.java
@@ -2,8 +2,6 @@
 
 import org.usfirst.frc.team1635.robot.commands.BottomOutElevator;
 
-
-import org.usfirst.frc.team1635.robot.commands.ShootBalls;
 import org.usfirst.frc.team1635.robot.commands.WiggleForward;
 //Local Package Imports
 import org.usfirst.frc.team1635.util.XboxControllerButton;
@@ -52,8 +50,8 @@ public class OI {
 	DPadButton dPadLeft = new DPadButton(gameController, DPadButton.Direction.Left);
 	DPadButton dPadRight = new DPadButton(gameController, DPadButton.Direction.Right);
 
-// -----------------------------------------------------------------------------------
-// For DualControllers
+	// -----------------------------------------------------------------------------------
+	// For DualControllers
 	public boolean globalA;
 	public boolean globalB;
 	public boolean globalX;
@@ -87,16 +85,13 @@ public void masterToSecondary(XboxController master, XboxController secondary) {
 		this.globalStartButton = master.getStartButton() || secondary.getStartButton();
 	}
 
-// ---------------------------------------------------------------------------------------
+	// ---------------------------------------------------------------------------------------
 
 	public OI() {
 		aButton.whenPressed(new WiggleForward());
 		aButton2.whenPressed(new WiggleForward());
 		// Don't use B - we switch camera with it.
 
-		dPadUp.whenPressed(new ShootBalls());
-		dPadUp2.whenPressed(new ShootBalls());
-
 		dPadDown.whenPressed(new BottomOutElevator());
 		dPadDown2.whenPressed(new BottomOutElevator());
 		// dPadLeft.whenPressed(new PopGearWithFlapsDown());

diff --git a/src/org/usfirst/frc/team1635/robot/RobotMap.java b/src/org/usfirst/frc/team1635/robot/RobotMap.java
@@ -19,9 +19,9 @@ public class RobotMap {
 	// ------------------------------------------------------------
 	// CAN IDs/Ports
 	public static int elevatorMotorCANPort = 3;
-	public static int elevatorRollerMotorCANPort = 2;
+	public static int elevatorRollerMotorCANPort;
 	// Drive
-	public static int frontLeftMotorCANPort = 4;
+	public static int frontLeftMotorCANPort = 2; // 4 Died Replacing with 2 
 	public static int frontRightMotorCANPort = 6;
 	public static int backLeftMotorCANPort = 1;
 	public static int backRightMotorCANPort = 5;

diff --git a/src/org/usfirst/frc/team1635/robot/commands/ShootBalls.java b/src/org/usfirst/frc/team1635/robot/commands/ShootBalls.java
diff --git a/src/org/usfirst/frc/team1635/robot/control/ControlDrive.java b/src/org/usfirst/frc/team1635/robot/control/ControlDrive.java
@@ -7,7 +7,6 @@
 import edu.wpi.first.wpilibj.command.Command;
 //------------------------------------------------------------
 
-
 //.---.  ,--.    .-----. .------.  
 ///_   | /  .'   /  -.   \|   ___|  
 //|   |.  / -.  '-' _'  ||  '--.   
@@ -17,42 +16,42 @@
 //`---' `----'   `----''  `----''  
 
 /**
-* 
-* @author Bogdan Bradu & Miguel Cruz ( @Acelogic_)
-*
-*/
+ * 
+ * @author Bogdan Bradu & Miguel Cruz ( @Acelogic_)
+ *
+ */
 public class ControlDrive extends Command {
 
-    public ControlDrive() {
-        // Use requires() here to declare subsystem dependencies
-        requires(Robot.chassisSystem);
-       
-    }
-
-    // Called just before this Command runs the first time
-    protected void initialize() {
-    }
-
-    // Called repeatedly when this Command is scheduled to run
-    protected void execute() {
-    	Robot.chassisSystem.drive();
-   
-    	Robot.chassisSystem.log();
-    	
-    }
-
-    // Make this return true when this Command no longer needs to run execute()
-    protected boolean isFinished() {
-        return false;
-    }
-
-    // Called once after isFinished returns true
-    protected void end() {
-    	Robot.chassisSystem.stop();
-    }
-
-    // Called when another command which requires one or more of the same
-    // subsystems is scheduled to run
-    protected void interrupted() {
-    }
+	public ControlDrive() {
+		// Use requires() here to declare subsystem dependencies
+		requires(Robot.chassisSystem);
+
+	}
+
+	// Called just before this Command runs the first time
+	protected void initialize() {
+	}
+
+	// Called repeatedly when this Command is scheduled to run
+	protected void execute() {
+		Robot.oi.masterToSecondary(Robot.oi.StartController(), Robot.oi.StartController2());
+		Robot.chassisSystem.drive();
+		Robot.chassisSystem.log();
+
+	}
+
+	// Make this return true when this Command no longer needs to run execute()
+	protected boolean isFinished() {
+		return false;
+	}
+
+	// Called once after isFinished returns true
+	protected void end() {
+		Robot.chassisSystem.stop();
+	}
+
+	// Called when another command which requires one or more of the same
+	// subsystems is scheduled to run
+	protected void interrupted() {
+	}
 }
diff --git a/src/org/usfirst/frc/team1635/robot/control/ControlElevator.java b/src/org/usfirst/frc/team1635/robot/control/ControlElevator.java
@@ -22,7 +22,6 @@ protected void initialize() {
 	// Called repeatedly when this Command is scheduled to run
 	protected void execute() {
 		Robot.elevatorSystem.controlElevator();
-		Robot.elevatorSystem.elevatorRollerControl();
 		Robot.elevatorSystem.log();
 	}
 

diff --git a/src/org/usfirst/frc/team1635/robot/control/ControlPneumatics.java b/src/org/usfirst/frc/team1635/robot/control/ControlPneumatics.java
@@ -21,7 +21,6 @@ protected void initialize() {
 
 	// Called repeatedly when this Command is scheduled to run
 	protected void execute() {
-
 		Robot.pneumaticsSystem.shiftDriveGears();
 		Robot.elevatorSystem.controlFlaps();
 		Robot.pneumaticsSystem.log();

diff --git a/src/org/usfirst/frc/team1635/robot/subsystems/ElevatorSubsystem.java b/src/org/usfirst/frc/team1635/robot/subsystems/ElevatorSubsystem.java
@@ -45,7 +45,7 @@ public class ElevatorSubsystem extends Subsystem {
 	public ElevatorSubsystem() {
 		super();
 		elevatorActuator = new CANTalon(RobotMap.elevatorMotorCANPort);
-		elevatorRoller = new CANTalon(RobotMap.elevatorRollerMotorCANPort);
+
 		limitSwitchTop = new DigitalInput(RobotMap.topLimitSwitchDioPort);
 		limitSwitchBottom = new DigitalInput(RobotMap.bottomLimitSwitchDioPort);
 		analogPot = new AnalogPotentiometer(RobotMap.potentiometerAnalogPort, 3600.0 / 5);
@@ -74,9 +74,6 @@ public void controlElevator() {
 		} else if (Robot.oi.StartController().getTriggerAxis(Hand.kRight) > .3) {
 			if (isElevatorAtDangerSpot()) {
 				stopElevator();
-				Timer.delay(0.2);
-				setElevatorSpeed(-0.15);
-				Timer.delay(1.25);
 			}
 
 			else {
@@ -95,15 +92,6 @@ public void controlElevator() {
 		}
 	}
 
-	public void elevatorRollerControl() {
-		if (Robot.oi.globalX) {
-			elevatorRoller.set(1);
-
-		} else {
-			elevatorRoller.set(0);
-		}
-	}
-
 	public void controlFlaps() {
 		if (Robot.oi.globalStartButton) {
 			moveFlapsDown();
@@ -161,7 +149,7 @@ public boolean isElevatorAtSweetSpot() {
 	}
 
 	public boolean isElevatorAtDangerSpot() {
-		if (Math.abs(getPotentiometerValue() - 520.0) <= 5) {
+		if (Math.abs(getPotentiometerValue() - 394.0) <= 5) {
 			return true;
 		} else {
 			return false;

diff --git a/src/org/usfirst/frc/team1635/robot/subsystems/WinchClimbSubsystem.java b/src/org/usfirst/frc/team1635/robot/subsystems/WinchClimbSubsystem.java
@@ -52,8 +52,8 @@ public void initDefaultCommand() {
 	public void operateWinch() {
 
 		if (Robot.oi.globalBackButton) {
-			rollerTalonSR.set(-1);
-			rollerTalonSRx2.set(-1);
+			rollerTalonSR.set(1);
+			rollerTalonSRx2.set(1);
 		} else if (!Robot.oi.globalBackButton) {
 			stopWinch();
 		}