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Fixing build #13

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Fixing build #13

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4 changes: 3 additions & 1 deletion src/main/java/org/usfirst/frc/team2412/robot/subsystems/DriveBaseSubsystem.java
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Original file line number Diff line number Diff line change
@@ -1,12 +1,14 @@
package org.usfirst.frc.team2412.robot.subsystems;

import org.usfirst.frc.team2412.robot.RobotMap;
import org.usfirst.frc.team2412.robot.commands.JoystickDriveCommand;

import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.command.Subsystem;

public class DriveBaseSubsystem extends Subsystem {
// private DifferentialDrive robotDrive = RobotMap.drive;
private DifferentialDrive robotDrive = RobotMap.drive;

@Override
protected void initDefaultCommand() {
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6 changes: 5 additions & 1 deletion src/main/java/org/usfirst/frc/team2412/robot/subsystems/InTakeUpDownSubsystem.java
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Original file line number Diff line number Diff line change
@@ -1,8 +1,12 @@
package org.usfirst.frc.team2412.robot.subsystems;

import org.usfirst.frc.team2412.robot.RobotMap;

import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.command.PIDSubsystem;

import com.ctre.phoenix.motorcontrol.can.WPI_VictorSPX;

public class InTakeUpDownSubsystem extends PIDSubsystem {

// PID conversion and unit values
Expand All @@ -25,7 +29,7 @@ public class InTakeUpDownSubsystem extends PIDSubsystem {

// private DigitalInput limitSwitchUp = RobotMap.limitSwitchUp;
// private DigitalInput limitSwitchDown = RobotMap.limitSwitchDown;
// private WPI_VictorSPX armMotor1 = RobotMap.armMotor1;
private WPI_VictorSPX armMotor1 = RobotMap.armMotor1;

public InTakeUpDownSubsystem() {
this(DEFAULT_KP, DEFAULT_KI, DEFAULT_KD);
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9 changes: 6 additions & 3 deletions src/main/java/org/usfirst/frc/team2412/robot/subsystems/LiftSubsystem.java
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Original file line number Diff line number Diff line change
@@ -1,6 +1,9 @@
package org.usfirst.frc.team2412.robot.subsystems;

import com.revrobotics.ControlType;
import com.revrobotics.CANSparkMax;
import com.revrobotics.CANPIDController;
import com.revrobotics.CANEncoder;

import org.usfirst.frc.team2412.robot.RobotMap;

Expand All @@ -27,9 +30,9 @@ public class LiftSubsystem extends Subsystem {

double motorRotationsToInches = outputGearCircumference * pullyRatio / gearboxRatio;

// CANSparkMax liftMotorLeader = RobotMap.liftMotors[0]; // Motors from RobotMap
// CANPIDController PIDController = liftMotorLeader.getPIDController();
// CANEncoder motorEncoder = liftMotorLeader.getEncoder();
CANSparkMax liftMotorLeader = RobotMap.liftMotors[0]; // Motors from RobotMap
CANPIDController PIDController = liftMotorLeader.getPIDController();
CANEncoder motorEncoder = liftMotorLeader.getEncoder();

double P = 0.01; //.11
double P_safe = 0.03;
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