From f9a8342c50d39b070ff2f1b4130c66e85fe43af1 Mon Sep 17 00:00:00 2001 From: J0hnCena Date: Sat, 25 Jun 2016 19:49:37 -0500 Subject: [PATCH] Invert rotation and change the intake arm speed multiplier to 0.1 --- src/org/impact2585/frc2016/systems/IntakeSystem.java | 2 +- src/org/impact2585/frc2016/systems/WheelSystem.java | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/org/impact2585/frc2016/systems/IntakeSystem.java b/src/org/impact2585/frc2016/systems/IntakeSystem.java index 0106ffa..4eeac8f 100644 --- a/src/org/impact2585/frc2016/systems/IntakeSystem.java +++ b/src/org/impact2585/frc2016/systems/IntakeSystem.java @@ -29,7 +29,7 @@ public class IntakeSystem implements RobotSystem, Runnable{ private DigitalInput shootingLimitSwitch; private IntakePID armPID; private boolean isPIDEnabled; - public static final double ARM_SPEED = 0.3; + public static final double ARM_SPEED = 0.1; public static final long FORWARD_LEVER_TIME = 250; public static final long BACKWARDS_LEVER_TIME = 233; private boolean disableSpeedMultiplier; diff --git a/src/org/impact2585/frc2016/systems/WheelSystem.java b/src/org/impact2585/frc2016/systems/WheelSystem.java index edb9ad5..4e81b7f 100644 --- a/src/org/impact2585/frc2016/systems/WheelSystem.java +++ b/src/org/impact2585/frc2016/systems/WheelSystem.java @@ -35,7 +35,7 @@ public class WheelSystem implements RobotSystem, Runnable{ @Override public void init(Environment environ) { drivebase = new RobotDrive(new Victor(RobotMap.FRONT_LEFT_DRIVE), new Spark(RobotMap.REAR_LEFT_DRIVE), new Victor(RobotMap.FRONT_RIGHT_DRIVE), new Spark(RobotMap.REAR_RIGHT_DRIVE)); - drivetrain = new Drivetrain(DEADZONE, RAMP, PRIMARY_ROTATION_EXPONENT, SECONDARY_ROTATION_EXPONENT, false, drivebase); + drivetrain = new Drivetrain(DEADZONE, RAMP, PRIMARY_ROTATION_EXPONENT, SECONDARY_ROTATION_EXPONENT, true, drivebase); input = environ.getInput(); accel = environ.getAccelerometerSystem(); forwardPIDSystem = new PIDSubsystem(0.45, 0.375, 0) {