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Arm.java Cleanup

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This commit is contained in:
Keenan D. Buckley
2019-03-09 16:29:28 -07:00
parent 61147c2c15
commit 0b025ff367
2 changed files with 4 additions and 4 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/Robot.java
+1 -1
View File
@@ -99,7 +99,7 @@ public class Robot extends TimedRobot
drive.resetEncoders();
drive.resetGyro();
drive.setIsRed(getAlliance().equals(Alliance.Red));
arm.resetencoder();
arm.resetEncoder();
}
2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java
+3 -3
View File
@@ -142,7 +142,7 @@ public class Arm extends Subsystem implements ControlLoopable
public void resetZeroPosition(double position) {
mpController.resetZeroPosition(position);
}
public void resetencoder(){
public void resetEncoder(){
motor1.setPosition(0);
}
@@ -175,7 +175,7 @@ public class Arm extends Subsystem implements ControlLoopable
public void updatePositionPID(double targetPositionInches) {
targetPositionInchesPID = limitPosition(targetPositionInches);
if (limitPosition(motor1.getPositionWorld()) == MIN_POSITION_INCHES){
resetencoder();
resetEncoder();
}
double startPositionInches = motor1.getPositionWorld();
//mpController.setTarget(targetPositionInchesPID, targetPositionInchesPID > startPositionInches ? KF_UP : KF_DOWN);
@@ -276,7 +276,7 @@ public class Arm extends Subsystem implements ControlLoopable
lastControlLoopUpdateTimestamp = currentTimestamp;
if (motor1.getSensorCollection().isRevLimitSwitchClosed()){
motor1.setPosition(0);
resetEncoder();
}
// Do the update