fixed stuff

Team2122 · Feb 16, 2018 · eb99072 · eb99072
1 parent abf83ab
commit eb99072
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Showing 4 changed files with 12 additions and 17 deletions.
diff --git a/rio/src/main/java/org/teamtators/levitator/subsystems/Drive.java b/rio/src/main/java/org/teamtators/levitator/subsystems/Drive.java
@@ -99,11 +99,11 @@ public void setLeftMotorPower(double power) {
     }
 
     public double getLeftCurrent() {
-        return robot.getPDP().getCurrent(config.leftMotor.getPowerChannel());
+        return config.leftMotor.getTotalCurrent(robot.getPDP());
     }
 
     public double getRightCurrent() {
-        return robot.getPDP().getCurrent(config.rightMotor.getPowerChannel());
+        return config.rightMotor.getTotalCurrent(robot.getPDP());
     }
 
     public double getLeftRate() {

diff --git a/rio/src/main/java/org/teamtators/levitator/subsystems/Lift.java b/rio/src/main/java/org/teamtators/levitator/subsystems/Lift.java
@@ -473,7 +473,7 @@ protected boolean step() {
         @Override
         protected void finish(boolean interrupted) {
             super.finish(interrupted);
-            if ((lowerLimit ? isAtBottomLimit() : isAtTopLimit())) {
+            if((lowerLimit ? isAtBottomLimit() : isAtTopLimit())) {
                 sendMessage("Lift has successfully reached limit", AutomatedTestMessage.Level.INFO);
             } else {
                 sendMessage("Lift has failed to reached limit", AutomatedTestMessage.Level.ERROR);

diff --git a/rio/src/main/java/org/teamtators/levitator/subsystems/Picker.java b/rio/src/main/java/org/teamtators/levitator/subsystems/Picker.java
@@ -1,6 +1,6 @@
 package org.teamtators.levitator.subsystems;
 
-import edu.wpi.first.wpilibj.PowerDistributionPanel;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 import edu.wpi.first.wpilibj.Sendable;
 import edu.wpi.first.wpilibj.Solenoid;
 import edu.wpi.first.wpilibj.SpeedController;
@@ -17,7 +17,6 @@
 import org.teamtators.common.tester.components.DigitalSensorTest;
 import org.teamtators.common.tester.components.SolenoidTest;
 import org.teamtators.common.tester.components.SpeedControllerTest;
-import org.teamtators.levitator.TatorRobot;
 
 import java.util.Arrays;
 import java.util.List;
@@ -30,20 +29,16 @@ public class Picker extends Subsystem implements Configurable<Picker.Config> {
     private DigitalSensor cubeDetectLeftSensor;
     private DigitalSensor cubeDetectRightSensor;
 
-    private TatorRobot robot;
-    private Config config;
-
-    public Picker(TatorRobot robot) {
+    public Picker() {
         super("Picker");
-        this.robot = robot;
     }
 
     public double getLeftCurrent() {
-        return robot.getPDP().getCurrent(config.leftMotor.getPowerChannel());
+        return ((WPI_TalonSRX)leftMotor).getOutputCurrent();
     }
 
     public double getRightCurrent() {
-        return robot.getPDP().getCurrent(config.rightMotor.getPowerChannel());
+        return ((WPI_TalonSRX)rightMotor).getOutputCurrent();
     }
 
     public void setRollerPowers(double left, double right) {
@@ -116,15 +111,15 @@ public ManualTestGroup createManualTests() {
     public List<AutomatedTest> createAutomatedTests() {
         return Arrays.asList(
                 new MotorCurrentTest("PickerLeftMotorCurrentTest", this::setLeftMotorPower, this::getLeftCurrent),
-                new MotorCurrentTest("PickerRightMotorCurrentTest", this::setRightMotorPower, this::getRightCurrent)
-                //TODO: Hybrid tests
+                new MotorCurrentTest("PickerRightMotorCurrentTest", this::setRightMotorPower, this::getRightCurrent),
+                new org.teamtators.common.tester.automated.DigitalSensorTest("CubeDetectSensorTest", this::isCubeDetected),
+                new org.teamtators.common.tester.automated.DigitalSensorTest("CubeDetectLeftSensorTest", this::isCubeDetectedLeft),
+                new org.teamtators.common.tester.automated.DigitalSensorTest("CubeDetectRightSensorTest", this::isCubeDetectedRight)
         );
     }
 
     @Override
     public void configure(Config config) {
-        this.config = config;
-
         this.leftMotor = config.leftMotor.create();
         this.rightMotor = config.rightMotor.create();
         this.extensionSolenoid = config.extensionSolenoid.create();

diff --git a/rio/src/main/java/org/teamtators/levitator/subsystems/Subsystems.java b/rio/src/main/java/org/teamtators/levitator/subsystems/Subsystems.java
@@ -28,7 +28,7 @@ public class Subsystems extends SubsystemsBase {
     public Subsystems(TatorRobot robot) {
         oi = new OperatorInterface();
         drive = new Drive(robot);
-        picker = new Picker(robot);
+        picker = new Picker();
         lift = new Lift(robot);
 
         //your subsystems here