Team4388/2018-Robot
1
0
Fork 0
mirror of https://github.com/Team4388/2018-Robot.git synced 2026-06-09 00:38:04 -06:00
Code Issues Packages Projects Releases Wiki Activity

Set neutral mode to coast for teleop

Browse Source 
also added explanatory comments around the teleop gyro lock mode code
This commit is contained in:
Dave Staudacher
2018-03-06 03:04:23 -07:00
parent 3371af60cf
commit f3591476b1
2 changed files with 21 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/org/usfirst/frc4388/robot/Robot.java
+1
View File
@@ -289,6 +289,7 @@ public class Robot extends IterativeRobot
if (RLautonomousCommand != null) RLautonomousCommand.cancel();
if (LRautonomousCommand != null) LRautonomousCommand.cancel();
if (LLautonomousCommand != null) LLautonomousCommand.cancel();
drive.setToBrakeOnNeutral(false); // coast to avoid tipping when driver stops suddenly
//MotionProfileCache.getInstance().release();
updateChoosers();
controlLoop.start();
src/org/usfirst/frc4388/robot/subsystems/Drive.java
+20 -13
View File
@@ -286,6 +286,20 @@ public class Drive extends Subsystem implements ControlLoopable
}
}
public void setToBrakeOnNeutral(boolean brakeVsCoast) {
if (brakeVsCoast) {
leftDrive1.setNeutralMode(NeutralMode.Brake);
leftDrive2.setNeutralMode(NeutralMode.Brake);
rightDrive1.setNeutralMode(NeutralMode.Brake);
rightDrive2.setNeutralMode(NeutralMode.Brake);
} else {
leftDrive1.setNeutralMode(NeutralMode.Coast);
leftDrive2.setNeutralMode(NeutralMode.Coast);
rightDrive1.setNeutralMode(NeutralMode.Coast);
rightDrive2.setNeutralMode(NeutralMode.Coast);
}
}
@Override
public void initDefaultCommand() {
}
@@ -623,20 +637,13 @@ public class Drive extends Subsystem implements ControlLoopable
m_moveOutput = climbSpeed;
}
/*
if (m_steerInput == 0.0 && m_moveInput != 0.0 && !useGyroLock) { // If just stopped turning, turn on gyro lock
setGyroLock(true, false);
} else if (m_steerInput != 0.0 && useGyroLock){ // If just started turning, turn off gyro lock
setGyroLock(false, false);
} */
if (useGyroLock) {
if ((m_moveInput == 0.0) || (m_steerInput != 0.0)) {
setGyroLock(false, false);
if (useGyroLock) { // If currently in gyro lock mode,
if ((m_moveInput == 0.0) || (m_steerInput != 0.0)) { // but stopped driving or started turning,
setGyroLock(false, false); // turn off gyro lock mode
}
} else {
if ((m_moveInput != 0.0) && (m_steerInput == 0.0)) {
setGyroLock(true, false);
} else { // If not yet in gyro lock mode,
if ((m_moveInput != 0.0) && (m_steerInput == 0.0)) { // but just started driving without turning,
setGyroLock(true, false); // gyro lock to current heading
}
}