Changes between Version 13 and Version 14 of ControlSystems/SoftwareTeam/Training/GettingStarted/IntroRobotJava

Timestamp:

Oct 15, 2019, 7:51:33 PM (6 years ago)

Author:

David Albert

Comment:

--

ControlSystems/SoftwareTeam/Training/GettingStarted/IntroRobotJava

@@ -131 +131 @@
     m_rearLeft = new WPI_TalonSRX(4); // CAN Talon ID 4
   }}}
-* in teleopPeriodic() read the xbox controller and adjust the servo motor accordingly
+* in teleopPeriodic() read the xbox controller and adjust the DC motor accordingly
   {{{
-    // Read xbox controller left joystick x axis
-    // value returned is between -1.0 and 1.0
-    double x = xbox.getX(Hand.kLeft); 
-    // Servo motors are controlled on a scale of 0.0 to 1.0
-    // so re-scale the X value to that range (-1.0->0, 0->0.5, 1.0->1.0)
-    x = (x + 1.0) / 2;
-    // Set motor speed based on joystick
-    m_rearLeft.set(x);
+     // Read xbox controller left joystick x axis
+     // value returned is between -1.0 and 1.0
+     double x = xbox.getX(Hand.kLeft); 
+     // DC Motor controllers apply between -1.0 (full reverse)
+     // 0=stop and +1.0 (full forward) power
+     // Set motor speed based on joystick
+     m_rearLeft.set(x);
   }}}
 
-You'll need to press the Enable button on the driver station to put the robot in Teleop mode so that teleopPeriodic() is called repeatedly.
+Note: you'll need to press the Enable button on the driver station to put the robot in Teleop mode so that teleopPeriodic() is called repeatedly.