Merge pull request #99 from johanlia000/master

Changes from GP competition
Spartronics4915 · Mar 26, 2017 · 1ccca73 · 1ccca73
2 parents 3b6a8af + ae5cd2e
commit 1ccca73
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Showing 3 changed files with 9 additions and 4 deletions.
diff --git a/src/org/usfirst/frc/team4915/steamworks/OI.java b/src/org/usfirst/frc/team4915/steamworks/OI.java
@@ -259,8 +259,8 @@ public Command getAutoCommand()
                     // Do our regular shooting routine, then almost the exact opposite, and then drive over the baseline
                     result = new ParameterizedCommandGroup(drivetrain, launcher, this,
                             "Drive", "" + (-42 + returnForSide(m_alliance, 0, 9)),
-                            "Turn", "-45",
-                            "Drive Timeout", "" + (37 + returnForSide(m_alliance, 0, -3)), "2.5",
+                            "Turn Timeout", "-45", "3",
+                            "Drive Timeout", "" + (29 + returnForSide(m_alliance, 0, -3)), "2.5",
                             "Shoot",
                             "Curve", "-125", "0.5");
                     break;

diff --git a/src/org/usfirst/frc/team4915/steamworks/commands/groups/ParameterizedCommandGroup.java b/src/org/usfirst/frc/team4915/steamworks/commands/groups/ParameterizedCommandGroup.java
@@ -60,6 +60,11 @@ public ParameterizedCommandGroup(Drivetrain drivetrain, Launcher launcher, OI oi
                 	double angle = safeParseDouble(params[i++]);
                     addSequential(new TurnDegreesIMUCommand(drivetrain, angle * oi.getAllianceScale()));
                     break;
+                case "Turn Timeout":
+                    angle = safeParseDouble(params[i++]);
+                    timeout = safeParseDouble(params[i++]);
+                    addSequential(new TurnDegreesIMUCommand(drivetrain, angle * oi.getAllianceScale()), timeout);
+                    break;
                 case "Turn Fast":
                     double value = safeParseDouble(params[i++]);
                     addSequential(new FastTurnDegreesIMUCommand(drivetrain, value * oi.getAllianceScale()));

diff --git a/src/org/usfirst/frc/team4915/steamworks/subsystems/Launcher.java b/src/org/usfirst/frc/team4915/steamworks/subsystems/Launcher.java
@@ -24,7 +24,7 @@ public static enum LauncherState
     }
 
     //the "perfect" static speed that always makes goal
-    public static final double DEFAULT_LAUNCHER_SPEED = 2940;
+    public static final double DEFAULT_LAUNCHER_SPEED = 2880;
     public static final double DEFAULT_AGITATOR_SPEED = .7;
     private CANTalon m_launcherMotor;
     private CANTalon m_agitatorMotor;
@@ -236,7 +236,7 @@ public CANTalon getAgitator()
     public boolean isEmpty()
     {
         double currentPosition = m_agitatorMotor.getPulseWidthPosition();
-        if (currentPosition >= (m_initialPos + 4096 * 3))  // 3 full rotations
+        if (currentPosition >= (m_initialPos + 4096 * 3.5))  // 3 full rotations
         {
             return true;
         }