From aa099d399758c7dcae2651c26c50c0ea7062fff0 Mon Sep 17 00:00:00 2001 From: Man Nguyen Date: Mon, 16 Jan 2017 18:38:04 -0500 Subject: [PATCH 1/6] Added GearPlacerServo subsystem and added some Javadocs. --- src/com/nutrons/nu17/RobotMap.java | 5 ++- .../nu17/commands/LowerGearPlacerCmd.java | 2 +- .../nu17/commands/RaiseGearPlacerCmd.java | 2 +- .../nutrons/nu17/subsystems/GearPlacer.java | 5 ++- .../nu17/subsystems/GearPlacerServo.java | 41 +++++++++++++++++++ 5 files changed, 50 insertions(+), 5 deletions(-) create mode 100644 src/com/nutrons/nu17/subsystems/GearPlacerServo.java diff --git a/src/com/nutrons/nu17/RobotMap.java b/src/com/nutrons/nu17/RobotMap.java index d0d6ba7..faf7952 100644 --- a/src/com/nutrons/nu17/RobotMap.java +++ b/src/com/nutrons/nu17/RobotMap.java @@ -24,8 +24,9 @@ public class RobotMap { public static final int GYRO = 0; // Port of gear placer - public static final int PLACER = 0; - + public static final int GEAR_PLACER = 0; + public static final int GEAR_PLACER_SERVO = 0; + // Port of shooter public static final int SHOOTER = 0; diff --git a/src/com/nutrons/nu17/commands/LowerGearPlacerCmd.java b/src/com/nutrons/nu17/commands/LowerGearPlacerCmd.java index b3f59d2..856d76c 100644 --- a/src/com/nutrons/nu17/commands/LowerGearPlacerCmd.java +++ b/src/com/nutrons/nu17/commands/LowerGearPlacerCmd.java @@ -5,7 +5,7 @@ import edu.wpi.first.wpilibj.command.Command; /** - * + * Command to lower the gear placer to safely drive. */ public class LowerGearPlacerCmd extends Command { diff --git a/src/com/nutrons/nu17/commands/RaiseGearPlacerCmd.java b/src/com/nutrons/nu17/commands/RaiseGearPlacerCmd.java index 736c371..5efb6b9 100644 --- a/src/com/nutrons/nu17/commands/RaiseGearPlacerCmd.java +++ b/src/com/nutrons/nu17/commands/RaiseGearPlacerCmd.java @@ -5,7 +5,7 @@ import edu.wpi.first.wpilibj.command.Command; /** - * + * Command that brings gear placer up to give the lift a gear. */ public class RaiseGearPlacerCmd extends Command { diff --git a/src/com/nutrons/nu17/subsystems/GearPlacer.java b/src/com/nutrons/nu17/subsystems/GearPlacer.java index 491c5b5..e6d5eea 100644 --- a/src/com/nutrons/nu17/subsystems/GearPlacer.java +++ b/src/com/nutrons/nu17/subsystems/GearPlacer.java @@ -6,9 +6,12 @@ import edu.wpi.first.wpilibj.Talon; import edu.wpi.first.wpilibj.command.Subsystem; +/** + * Class of a single arm that will interact with the gears. + */ public class GearPlacer extends Subsystem { - private final Talon PLACER = new Talon(RobotMap.PLACER); + private final Talon PLACER = new Talon(RobotMap.GEAR_PLACER); public void initDefaultCommand() { //empty diff --git a/src/com/nutrons/nu17/subsystems/GearPlacerServo.java b/src/com/nutrons/nu17/subsystems/GearPlacerServo.java new file mode 100644 index 0000000..75a1fc0 --- /dev/null +++ b/src/com/nutrons/nu17/subsystems/GearPlacerServo.java @@ -0,0 +1,41 @@ +package com.nutrons.nu17.subsystems; + +import com.nutrons.nu17.RobotMap; + +import edu.wpi.first.wpilibj.Servo; +import edu.wpi.first.wpilibj.command.Subsystem; + +/** + * Similar to GearPlacer class but uses a servo instead. + */ +public class GearPlacerServo extends Subsystem { + + private final Servo PLACER = new Servo(RobotMap.GEAR_PLACER_SERVO); + + public void initDefaultCommand() { + //empty + } + + /** + * Sets the gear placer to a position. + * + * @param position Where the gear placer will be set to. + */ + public void setPosition(double position) { + PLACER.set(position); + } + + /** + * Returns the current position of the gear placer. + * + * @return Gives us where the gear placer is at this moment. + */ + public double getPosition() { + return PLACER.get(); + } + + public void stop() { + this.setPosition(this.getPosition()); + } +} + From 10bd240c06fe70bdc690a4002b32d2c8b4bb8165 Mon Sep 17 00:00:00 2001 From: Man Nguyen Date: Wed, 18 Jan 2017 08:22:44 -0500 Subject: [PATCH 2/6] Changed javadocs and removed port comments --- src/com/nutrons/nu17/RobotMap.java | 21 ------------------- .../nu17/commands/LowerGearPlacerCmd.java | 7 +++++-- .../nu17/commands/RaiseGearPlacerCmd.java | 9 +++++--- .../nu17/subsystems/GearPlacerServo.java | 2 +- 4 files changed, 12 insertions(+), 27 deletions(-) diff --git a/src/com/nutrons/nu17/RobotMap.java b/src/com/nutrons/nu17/RobotMap.java index faf7952..98a21ff 100644 --- a/src/com/nutrons/nu17/RobotMap.java +++ b/src/com/nutrons/nu17/RobotMap.java @@ -2,41 +2,22 @@ public class RobotMap { - // Ports of wheels public static final int FRONT_LEFT = 0; public static final int FRONT_RIGHT = 1; public static final int BACK_LEFT = 2; public static final int BACK_RIGHT = 3; - - // Ports of intake public static final int ROLLER_A = 0; public static final int ROLLER_B = 0; - - // Ports of fly wheels public static final int FLY_WHEEL_R = 0; public static final int FLY_WHEEL_L = 0; - - // Ports of Ultrasonics public static final int ULTRASONIC_RX = 0; public static final int ULTRASONIC_TX = 1; - - // Port of gyro public static final int GYRO = 0; - - // Port of gear placer public static final int GEAR_PLACER = 0; public static final int GEAR_PLACER_SERVO = 0; - - // Port of shooter public static final int SHOOTER = 0; - - // Port of climber public static final int CLIMBER = 0; - - // Port of micro switch public static final int MICRO_SWITCH = 0; - - // Ports of encoders public static final int DT_ENCODER_1 = 1; public static final int DT_ENCODER_2 = 2; public static final int DT_ENCODER_3 = 3; @@ -51,8 +32,6 @@ public class RobotMap { public static final int TWIN_ENCODER_4 = 12; public static final int SHOOT_ENCODER_1 = 0; public static final int SHOOT_ENCODER_2 = 1; - - // Port of joysticks public static final int JOYSTICK1 = 0; public static final int JOYSTICK2 = 1; diff --git a/src/com/nutrons/nu17/commands/LowerGearPlacerCmd.java b/src/com/nutrons/nu17/commands/LowerGearPlacerCmd.java index 856d76c..0ce11b4 100644 --- a/src/com/nutrons/nu17/commands/LowerGearPlacerCmd.java +++ b/src/com/nutrons/nu17/commands/LowerGearPlacerCmd.java @@ -5,7 +5,7 @@ import edu.wpi.first.wpilibj.command.Command; /** - * Command to lower the gear placer to safely drive. + * Lowers the gear placer to safely drive. */ public class LowerGearPlacerCmd extends Command { @@ -23,7 +23,10 @@ protected void initialize() { protected void execute() { //empty } - // Finished when the placer is at the lowest position + + /** + * Finished once the gear placer is at the lowest position. + */ protected boolean isFinished() { return Robot.GP.getPosition() == 0; } diff --git a/src/com/nutrons/nu17/commands/RaiseGearPlacerCmd.java b/src/com/nutrons/nu17/commands/RaiseGearPlacerCmd.java index 5efb6b9..b08413d 100644 --- a/src/com/nutrons/nu17/commands/RaiseGearPlacerCmd.java +++ b/src/com/nutrons/nu17/commands/RaiseGearPlacerCmd.java @@ -5,7 +5,7 @@ import edu.wpi.first.wpilibj.command.Command; /** - * Command that brings gear placer up to give the lift a gear. + * Lifts the gear placer to interact with a gear. */ public class RaiseGearPlacerCmd extends Command { @@ -16,7 +16,7 @@ public RaiseGearPlacerCmd() { } /** - * Lowers the gear placer. + * Raises the gear placer. */ protected void initialize() { Robot.GP.set(this.PLACER_MAX_POSITION); @@ -25,7 +25,10 @@ protected void initialize() { protected void execute() { //empty } - // Finishes when the placer is at the highest position + + /** + * Raises the gear placer to the highest position. + */ protected boolean isFinished() { return Robot.GP.getPosition() == this.PLACER_MAX_POSITION; } diff --git a/src/com/nutrons/nu17/subsystems/GearPlacerServo.java b/src/com/nutrons/nu17/subsystems/GearPlacerServo.java index 75a1fc0..c22534e 100644 --- a/src/com/nutrons/nu17/subsystems/GearPlacerServo.java +++ b/src/com/nutrons/nu17/subsystems/GearPlacerServo.java @@ -6,7 +6,7 @@ import edu.wpi.first.wpilibj.command.Subsystem; /** - * Similar to GearPlacer class but uses a servo instead. + * Similar to {@link GearPlacer} class but uses a servo instead. */ public class GearPlacerServo extends Subsystem { From 996818c32ccce718e641178f1f2c109ddf1b339c Mon Sep 17 00:00:00 2001 From: Man Nguyen Date: Wed, 18 Jan 2017 20:07:32 -0500 Subject: [PATCH 3/6] Fixed robotmap class --- .idea/misc.xml | 44 ++ .idea/modules.xml | 8 + .idea/vcs.xml | 6 + .idea/workspace.xml | 435 ++++++++++++++++++ NU17.iml | 69 +++ src/com/nutrons/nu17/RobotMap.java | 13 +- .../nu17/commands/LowerGearPlacerCmd.java | 2 +- 7 files changed, 568 insertions(+), 9 deletions(-) create mode 100644 .idea/misc.xml create mode 100644 .idea/modules.xml create mode 100644 .idea/vcs.xml create mode 100644 .idea/workspace.xml create mode 100644 NU17.iml diff --git a/.idea/misc.xml b/.idea/misc.xml new file mode 100644 index 0000000..2c55e21 --- /dev/null +++ b/.idea/misc.xml @@ -0,0 +1,44 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/.idea/modules.xml b/.idea/modules.xml new file mode 100644 index 0000000..a07346c --- /dev/null +++ b/.idea/modules.xml @@ -0,0 +1,8 @@ + + + + + + + + \ No newline at end of file diff --git a/.idea/vcs.xml b/.idea/vcs.xml new file mode 100644 index 0000000..35eb1dd --- /dev/null +++ b/.idea/vcs.xml @@ -0,0 +1,6 @@ + + + + + + \ No newline at end of file diff --git a/.idea/workspace.xml b/.idea/workspace.xml new file mode 100644 index 0000000..20ad2e2 --- /dev/null +++ b/.idea/workspace.xml @@ -0,0 +1,435 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1484749899453 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1.8 + + + + + + + + \ No newline at end of file diff --git a/NU17.iml b/NU17.iml new file mode 100644 index 0000000..571fc5e --- /dev/null +++ b/NU17.iml @@ -0,0 +1,69 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/src/com/nutrons/nu17/RobotMap.java b/src/com/nutrons/nu17/RobotMap.java index 98a21ff..cbf4b4e 100644 --- a/src/com/nutrons/nu17/RobotMap.java +++ b/src/com/nutrons/nu17/RobotMap.java @@ -2,12 +2,13 @@ public class RobotMap { + // Wheel motors public static final int FRONT_LEFT = 0; public static final int FRONT_RIGHT = 1; public static final int BACK_LEFT = 2; public static final int BACK_RIGHT = 3; - public static final int ROLLER_A = 0; - public static final int ROLLER_B = 0; + public static final int ROLLER_GROUND = 0; + public static final int ROLLER_ROBOT = 0; public static final int FLY_WHEEL_R = 0; public static final int FLY_WHEEL_L = 0; public static final int ULTRASONIC_RX = 0; @@ -18,10 +19,6 @@ public class RobotMap { public static final int SHOOTER = 0; public static final int CLIMBER = 0; public static final int MICRO_SWITCH = 0; - public static final int DT_ENCODER_1 = 1; - public static final int DT_ENCODER_2 = 2; - public static final int DT_ENCODER_3 = 3; - public static final int DT_ENCODER_4 = 4; public static final int FLY_ENCODER_R1 = 5; public static final int FLY_ENCODER_R2 = 6; public static final int FLY_ENCODER_L1 = 7; @@ -32,8 +29,8 @@ public class RobotMap { public static final int TWIN_ENCODER_4 = 12; public static final int SHOOT_ENCODER_1 = 0; public static final int SHOOT_ENCODER_2 = 1; - public static final int JOYSTICK1 = 0; - public static final int JOYSTICK2 = 1; + public static final int JOYSTICKDRIVER = 0; + public static final int JOYSTICKOPERATOR = 1; // Buttons public static final int JOYSTICK_A = 0; diff --git a/src/com/nutrons/nu17/commands/LowerGearPlacerCmd.java b/src/com/nutrons/nu17/commands/LowerGearPlacerCmd.java index 0ce11b4..c724856 100644 --- a/src/com/nutrons/nu17/commands/LowerGearPlacerCmd.java +++ b/src/com/nutrons/nu17/commands/LowerGearPlacerCmd.java @@ -14,7 +14,7 @@ public LowerGearPlacerCmd() { } /** - * Lowers the gear placer. + * Lower the gear placer. */ protected void initialize() { Robot.GP.set(0); From c6b144a1c3471e2f53fa88b1fbc106d187a65fe1 Mon Sep 17 00:00:00 2001 From: Man Nguyen Date: Wed, 18 Jan 2017 23:24:53 -0500 Subject: [PATCH 4/6] Got rid of encoders in preparation for CANTalon. Made Servo extend GearPlacer and dumbed down constants in RobotMap. --- src/com/nutrons/nu17/OI.java | 4 +-- src/com/nutrons/nu17/RobotMap.java | 4 +-- .../nutrons/nu17/commands/DrivePIDCmd.java | 1 - .../nutrons/nu17/subsystems/Drivetrain.java | 25 +++++----------- .../nu17/subsystems/DrivetrainGyro.java | 30 ++++++------------- .../nu17/subsystems/GearPlacerServo.java | 2 +- .../nutrons/nu17/subsystems/GroundIntake.java | 4 +-- 7 files changed, 23 insertions(+), 47 deletions(-) diff --git a/src/com/nutrons/nu17/OI.java b/src/com/nutrons/nu17/OI.java index 3f8c2e8..6b7f0cb 100644 --- a/src/com/nutrons/nu17/OI.java +++ b/src/com/nutrons/nu17/OI.java @@ -29,8 +29,8 @@ public class OI { this.OPERATOR_PAD, RobotMap.JOYSTICK_X); - public final Joystick DRIVER_PAD = new Joystick(RobotMap.JOYSTICK1); - public final Joystick OPERATOR_PAD = new Joystick(RobotMap.JOYSTICK2); + public final Joystick DRIVER_PAD = new Joystick(RobotMap.JOYSTICK_DRIVER); + public final Joystick OPERATOR_PAD = new Joystick(RobotMap.JOYSTICK_OPERATOR); public OI() { this.RAISE_PLACER.whenPressed(new RaiseGearPlacerCmd()); diff --git a/src/com/nutrons/nu17/RobotMap.java b/src/com/nutrons/nu17/RobotMap.java index cbf4b4e..e23e9e4 100644 --- a/src/com/nutrons/nu17/RobotMap.java +++ b/src/com/nutrons/nu17/RobotMap.java @@ -29,8 +29,8 @@ public class RobotMap { public static final int TWIN_ENCODER_4 = 12; public static final int SHOOT_ENCODER_1 = 0; public static final int SHOOT_ENCODER_2 = 1; - public static final int JOYSTICKDRIVER = 0; - public static final int JOYSTICKOPERATOR = 1; + public static final int JOYSTICK_DRIVER = 0; + public static final int JOYSTICK_OPERATOR = 1; // Buttons public static final int JOYSTICK_A = 0; diff --git a/src/com/nutrons/nu17/commands/DrivePIDCmd.java b/src/com/nutrons/nu17/commands/DrivePIDCmd.java index 4712576..acae7d5 100644 --- a/src/com/nutrons/nu17/commands/DrivePIDCmd.java +++ b/src/com/nutrons/nu17/commands/DrivePIDCmd.java @@ -16,7 +16,6 @@ public DrivePIDCmd(double target) { * Sets a target to drive to. Sets how far the robot can be displaced from the target. */ protected void initialize() { - Robot.DT.resetEncoder(); Robot.DT.DISTANCE_PID.setSetpoint(this.target); Robot.DT.DISTANCE_PID.setAbsoluteTolerance(0.2); Robot.DT.DISTANCE_PID.enable(); diff --git a/src/com/nutrons/nu17/subsystems/Drivetrain.java b/src/com/nutrons/nu17/subsystems/Drivetrain.java index 9c6f9ff..aa7790a 100644 --- a/src/com/nutrons/nu17/subsystems/Drivetrain.java +++ b/src/com/nutrons/nu17/subsystems/Drivetrain.java @@ -15,13 +15,6 @@ public class Drivetrain extends Subsystem { private final Talon BACK_LEFT_WHEEL = new Talon(RobotMap.FRONT_RIGHT); private final Talon FRONT_RIGHT_WHEEL = new Talon(RobotMap.BACK_LEFT); private final Talon BACK_RIGHT_WHEEL = new Talon(RobotMap.BACK_RIGHT); - - private final Encoder ENCODER_1 = new Encoder( - RobotMap.DT_ENCODER_1, - RobotMap.DT_ENCODER_2); - private final Encoder ENCODER_2 = new Encoder( - RobotMap.DT_ENCODER_3, - RobotMap.DT_ENCODER_4); // TODO: tune these constants private static final double P_DISTANCE = 0.025; @@ -36,8 +29,7 @@ public class Drivetrain extends Subsystem { new DriveOutputPID()); public Drivetrain() { - ENCODER_1.setDistancePerPulse(1); - ENCODER_2.setDistancePerPulse(1); + // empty } public void initDefaultCommand() { @@ -70,11 +62,6 @@ public void stop() { this.drive(0, 0, 0, 0); } - public void resetEncoder() { - this.ENCODER_1.reset(); - this.ENCODER_2.reset(); - } - private class DriveSourcePID implements PIDSource { @Override @@ -82,15 +69,17 @@ public void setPIDSourceType(PIDSourceType pidSource) { //empty } - @Override - public double pidGet() { - return ENCODER_1.getDistance(); - } @Override public PIDSourceType getPIDSourceType() { return null; } + + + @Override + public double pidGet() { + return 0; + } } private class DriveOutputPID implements PIDOutput { diff --git a/src/com/nutrons/nu17/subsystems/DrivetrainGyro.java b/src/com/nutrons/nu17/subsystems/DrivetrainGyro.java index 0e6fe95..0bd1ad6 100644 --- a/src/com/nutrons/nu17/subsystems/DrivetrainGyro.java +++ b/src/com/nutrons/nu17/subsystems/DrivetrainGyro.java @@ -17,13 +17,6 @@ public class DrivetrainGyro extends Subsystem { private final Talon FRONT_LEFT = new Talon(RobotMap.FRONT_LEFT); private final Talon BACK_RIGHT = new Talon(RobotMap.BACK_RIGHT); private final Talon BACK_LEFT = new Talon(RobotMap.BACK_LEFT); - - private final Encoder ENCODER_1 = new Encoder( - RobotMap.DT_ENCODER_1, - RobotMap.DT_ENCODER_2); - private final Encoder ENCODER_2 = new Encoder( - RobotMap.DT_ENCODER_3, - RobotMap.DT_ENCODER_4); private final AnalogGyro GYRO = new AnalogGyro(RobotMap.GYRO); @@ -53,8 +46,6 @@ public class DrivetrainGyro extends Subsystem { private double headingGyro; public DrivetrainGyro() { - ENCODER_1.setDistancePerPulse(1); - ENCODER_2.setDistancePerPulse(1); } public void initDefaultCommand() { @@ -68,14 +59,6 @@ public void stop() { this.driveLR(0.0, 0.0); } - /** - * Resets the encoders. - */ - public void resetEncoder() { - this.ENCODER_1.reset(); - this.ENCODER_2.reset(); - } - /** * Drives the robot based on speeds of left and right wheels. * @@ -105,14 +88,19 @@ public PIDSourceType getPIDSourceType() { return PIDSourceType.kDisplacement; } + + @Override - public double pidGet() { - return ENCODER_1.getDistance(); + public void setPIDSourceType(PIDSourceType PIDSource) { + //empty } + + @Override - public void setPIDSourceType(PIDSourceType arg0) { - //empty + public double pidGet() { + // TODO Auto-generated method stub + return 0; } } diff --git a/src/com/nutrons/nu17/subsystems/GearPlacerServo.java b/src/com/nutrons/nu17/subsystems/GearPlacerServo.java index c22534e..0e166a1 100644 --- a/src/com/nutrons/nu17/subsystems/GearPlacerServo.java +++ b/src/com/nutrons/nu17/subsystems/GearPlacerServo.java @@ -8,7 +8,7 @@ /** * Similar to {@link GearPlacer} class but uses a servo instead. */ -public class GearPlacerServo extends Subsystem { +public class GearPlacerServo extends GearPlacer { private final Servo PLACER = new Servo(RobotMap.GEAR_PLACER_SERVO); diff --git a/src/com/nutrons/nu17/subsystems/GroundIntake.java b/src/com/nutrons/nu17/subsystems/GroundIntake.java index d1cfce5..418478a 100644 --- a/src/com/nutrons/nu17/subsystems/GroundIntake.java +++ b/src/com/nutrons/nu17/subsystems/GroundIntake.java @@ -8,8 +8,8 @@ public class GroundIntake extends Subsystem { - private final Talon ROLLER_1 = new Talon(RobotMap.ROLLER_A); - private final Talon ROLLER_2 = new Talon(RobotMap.ROLLER_B); + private final Talon ROLLER_1 = new Talon(RobotMap.ROLLER_GROUND); + private final Talon ROLLER_2 = new Talon(RobotMap.ROLLER_ROBOT); private final Ultrasonic BALL_CENTER = new Ultrasonic( RobotMap.ULTRASONIC_RX, From 013bb2063ce5d798ada4fc576a991bef7d949295 Mon Sep 17 00:00:00 2001 From: Man Nguyen Date: Thu, 19 Jan 2017 17:21:36 -0500 Subject: [PATCH 5/6] Changed command doc --- .classpath | 1 + src/com/nutrons/nu17/commands/RaiseGearPlacerCmd.java | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/.classpath b/.classpath index e774ffb..a22d81f 100644 --- a/.classpath +++ b/.classpath @@ -6,5 +6,6 @@ + diff --git a/src/com/nutrons/nu17/commands/RaiseGearPlacerCmd.java b/src/com/nutrons/nu17/commands/RaiseGearPlacerCmd.java index b08413d..fa1c033 100644 --- a/src/com/nutrons/nu17/commands/RaiseGearPlacerCmd.java +++ b/src/com/nutrons/nu17/commands/RaiseGearPlacerCmd.java @@ -27,7 +27,7 @@ protected void execute() { } /** - * Raises the gear placer to the highest position. + * Raise the gear placer to the highest position. */ protected boolean isFinished() { return Robot.GP.getPosition() == this.PLACER_MAX_POSITION; From 277784b8531b26376f065069252645c4dfa539c2 Mon Sep 17 00:00:00 2001 From: Man Nguyen Date: Thu, 19 Jan 2017 20:12:00 -0500 Subject: [PATCH 6/6] Changed javadoc for commands --- src/com/nutrons/nu17/commands/LowerGearPlacerCmd.java | 2 +- src/com/nutrons/nu17/commands/RaiseGearPlacerCmd.java | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/com/nutrons/nu17/commands/LowerGearPlacerCmd.java b/src/com/nutrons/nu17/commands/LowerGearPlacerCmd.java index c724856..b73e2fe 100644 --- a/src/com/nutrons/nu17/commands/LowerGearPlacerCmd.java +++ b/src/com/nutrons/nu17/commands/LowerGearPlacerCmd.java @@ -5,7 +5,7 @@ import edu.wpi.first.wpilibj.command.Command; /** - * Lowers the gear placer to safely drive. + * Lower the gear placer. */ public class LowerGearPlacerCmd extends Command { diff --git a/src/com/nutrons/nu17/commands/RaiseGearPlacerCmd.java b/src/com/nutrons/nu17/commands/RaiseGearPlacerCmd.java index fa1c033..c28a721 100644 --- a/src/com/nutrons/nu17/commands/RaiseGearPlacerCmd.java +++ b/src/com/nutrons/nu17/commands/RaiseGearPlacerCmd.java @@ -5,7 +5,7 @@ import edu.wpi.first.wpilibj.command.Command; /** - * Lifts the gear placer to interact with a gear. + * Raise the gear placer. */ public class RaiseGearPlacerCmd extends Command {