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Merged
brettle merged 2 commits into from
Mar 12, 2019
Merged

Push issue-63 (actually issue-88) #89

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1d7215d
Solves issue-88
Mar 11, 2019
9d17261
Pull from dev (not issue-63)
Mar 11, 2019
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9 changes: 5 additions & 4 deletions Robot2019/src/main/java/frc/robot/RobotMap.java
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Original file line number Diff line number Diff line change
Expand Up @@ -153,9 +153,10 @@ private static UsbCamera configureCamera(int port) {
*
* @param ec The error code to check
*/
private static void catchError(ErrorCode ec) {
if (ec != ErrorCode.OK)
System.out
.println("Error configuring in RobotMap.java at line: " + new Throwable().getStackTrace()[1].getLineNumber());
public static void catchError(ErrorCode ec) {
if(ec != ErrorCode.OK) {
System.out.println("Error configuring in RobotMap.java at line: " + new Throwable().getStackTrace()[1].getLineNumber());
System.out.println(ec.toString());
}
}
}
11 changes: 3 additions & 8 deletions Robot2019/src/main/java/frc/robot/subsystems/Drivetrain.java
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import frc.robot.RobotMap;

public class Drivetrain extends Subsystem {
public enum Side {
Expand Down Expand Up @@ -150,16 +151,10 @@ public double getMaxVoltage() {

public void setVoltageCompensation(double volts) {
ErrorCode ecVoltSat = leftMaster.configVoltageCompSaturation(volts, 10);

if (!ecVoltSat.equals(ErrorCode.OK)) {
throw new RuntimeException("Voltage Saturation Configuration could not be set");
}
RobotMap.catchError(ecVoltSat);

ecVoltSat = rightMaster.configVoltageCompSaturation(volts, 10);

if (!ecVoltSat.equals(ErrorCode.OK)) {
throw new RuntimeException("Voltage Saturation Configuration could not be set");
}
RobotMap.catchError(ecVoltSat);

leftMaster.enableVoltageCompensation(true);
rightMaster.enableVoltageCompensation(true);
Expand Down