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Added to initial angle change

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mayabartels
2019-01-28 16:25:05 -08:00
parent 260699ef4a
commit 0fc322ec56
2 changed files with 4 additions and 2 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/Robot.java
-2
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@@ -50,8 +50,6 @@ public class Robot extends IterativeRobot
private Command RLautonomousCommand;
private Command LRautonomousCommand;
private Command LLautonomousCommand;
public static final double OriginalDegreesWrist = arm.ENCODER_TICKS_TO_DEGREES;
public void robotInit()
{
2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java
+4
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@@ -42,6 +42,8 @@ public class Wrist extends Subsystem
//Encoder ticks to inches for encoders
public static final double ENCODER_TICKS_TO_INCHES = Constants.kArmEncoderTicksPerDegree;
public static final double ENCODER_TICKS_TO_DEGREES = Constants.kWristEncoderTicksPerDegree * Math.PI;
public double WRIST_ANGLE_DEGREES = 0;
// PID controller and params
private MPTalonPIDController mpController;
@@ -94,6 +96,8 @@ public class Wrist extends Subsystem
{
double armAngleToHoriz = 70;
double initAngle = ENCODER_TICKS_TO_DEGREES - armAngleToHoriz;
WRIST_ANGLE_DEGREES = initAngle;
}
//Method for setting the control mode for the wrist