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Set neutral mode to coast for teleop

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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
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src/org/usfirst/frc4388/robot/Robot.java
+1
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@@ -289,6 +289,7 @@ public class Robot extends IterativeRobot
if (RLautonomousCommand != null) RLautonomousCommand.cancel(); if (RLautonomousCommand != null) RLautonomousCommand.cancel();
if (LRautonomousCommand != null) LRautonomousCommand.cancel(); if (LRautonomousCommand != null) LRautonomousCommand.cancel();
if (LLautonomousCommand != null) LLautonomousCommand.cancel(); if (LLautonomousCommand != null) LLautonomousCommand.cancel();
drive.setToBrakeOnNeutral(false); // coast to avoid tipping when driver stops suddenly
//MotionProfileCache.getInstance().release(); //MotionProfileCache.getInstance().release();
updateChoosers(); updateChoosers();
controlLoop.start(); controlLoop.start();
src/org/usfirst/frc4388/robot/subsystems/Drive.java
+20 -13
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@@ -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 @Override
public void initDefaultCommand() { public void initDefaultCommand() {
} }
@@ -623,20 +637,13 @@ public class Drive extends Subsystem implements ControlLoopable
m_moveOutput = climbSpeed; m_moveOutput = climbSpeed;
} }
/* if (useGyroLock) { // If currently in gyro lock mode,
if (m_steerInput == 0.0 && m_moveInput != 0.0 && !useGyroLock) { // If just stopped turning, turn on gyro lock if ((m_moveInput == 0.0) || (m_steerInput != 0.0)) { // but stopped driving or started turning,
setGyroLock(true, false); setGyroLock(false, false); // turn off gyro lock mode
} 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);
} }
} else { } else { // If not yet in gyro lock mode,
if ((m_moveInput != 0.0) && (m_steerInput == 0.0)) { if ((m_moveInput != 0.0) && (m_steerInput == 0.0)) { // but just started driving without turning,
setGyroLock(true, false); setGyroLock(true, false); // gyro lock to current heading
} }
} }