minor changes from last compitition day

FIRSTTeam6423 · Apr 10, 2019 · 1a67da0 · 1a67da0
1 parent 317f7b4
commit 1a67da0
Show file tree

Hide file tree

Showing 3 changed files with 15 additions and 9 deletions.
diff --git a/src/main/java/frc/robot/ArmWrist.java b/src/main/java/frc/robot/ArmWrist.java
@@ -243,7 +243,7 @@ public void upDownManualArm(boolean up, boolean down)
     }
   }
 
-  public void upDownManualWrist(boolean up, boolean down)
+  public void upDownManualWrist(boolean up, boolean down, boolean holdBack)
   { 
     /*
     //System.out.println("in manual wrist method " + up + " " + down + " " + wristPositionTarget);
@@ -269,21 +269,27 @@ public void upDownManualWrist(boolean up, boolean down)
     if(up)
     {
       System.out.println("up");
-      wrist.set(0.65);
+      wrist.set(0.35);
     }
     else
     {
       if(down)
       {
         System.out.println("down");
-        wrist.set(-0.8);
+        wrist.set(-0.5);
       }
       else
       {
-        System.out.println("no movement");
-        wrist.set(0);
+        if(holdBack)
+        {
+          wrist.set(0.25);
+        }
+        else
+        {
+          System.out.println("no movement");
+          wrist.set(0);
+        }
       }
-
     }
   }
 

diff --git a/src/main/java/frc/robot/DriveTrain.java b/src/main/java/frc/robot/DriveTrain.java
@@ -39,7 +39,7 @@ public class DriveTrain
   SpeedController leftSpeedGroup; 
   SpeedController rightSpeedGroup;
   DifferentialDrive diffDrive;
-  double DRIVE_SCALE = 0.75;
+  double DRIVE_SCALE = 0.99;
 
   public DriveTrain(OurBots selectedBot)//constructor
   {

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -194,7 +194,7 @@ public void linkJoyStickToDrive()
   public void linkJoyStickToArmWrist()
   {
     armWrist.upDownManualArm  (joy.getRawButton(hMap.buttonArmWristManualUp), joy.getRawButton(hMap.buttonArmWristManualDown));
-    armWrist.upDownManualWrist(joy.getRawButton(hMap.buttonWristManualUp),    joy.getRawButton(hMap.buttonWristManualDown));
+    armWrist.upDownManualWrist(joy.getRawButton(hMap.buttonWristManualUp),    joy.getRawButton(hMap.buttonWristManualDown),joy.getRawButton(hMap.buttonArmWristCycleUp));
     //armWrist.upDownCycle      (joy.getRawButton(hMap.buttonArmWristCycleUp),  joy.getRawButton(hMap.buttonArmWristCycleDown)); 
   }
   public void linkJoyStickToPneumatics()
@@ -203,7 +203,7 @@ public void linkJoyStickToPneumatics()
     if(joy.getPOV() == (hMap.povHatchPush) )
     {
       air.hatchPush(); //if button pushed, push hatch
-      armWrist.upDownManualWrist(joy.getPOV() == 270,false);
+    //  armWrist.upDownManualWrist(joy.getPOV() == 270,false, false);///why?
     }
     else
     {