From 120b7ff5b8f14b3020773fafcbbb615f1cbc0ebc Mon Sep 17 00:00:00 2001 From: Fred18295 Date: Sat, 19 Jan 2019 13:19:49 -0700 Subject: [PATCH] eliot changes --- .gradle/5.0/fileChanges/last-build.bin | Bin 0 -> 1 bytes .gradle/5.0/fileHashes/fileHashes.lock | Bin 0 -> 17 bytes .gradle/5.0/gc.properties | 0 .gradle/5.0/taskHistory/taskHistory.bin | Bin 0 -> 18733 bytes .gradle/5.0/taskHistory/taskHistory.lock | Bin 0 -> 17 bytes .../buildOutputCleanup/buildOutputCleanup.lock | Bin 0 -> 17 bytes .gradle/buildOutputCleanup/cache.properties | 2 ++ .gradle/vcs-1/gc.properties | 0 .wpilib/wpilib_preferences.json | 6 ++++++ .../usfirst/frc4388/robot/subsystems/Drive.java | 14 +++++++++----- 10 files changed, 17 insertions(+), 5 deletions(-) create mode 100644 .gradle/5.0/fileChanges/last-build.bin create mode 100644 .gradle/5.0/fileHashes/fileHashes.lock create mode 100644 .gradle/5.0/gc.properties create mode 100644 .gradle/5.0/taskHistory/taskHistory.bin create mode 100644 .gradle/5.0/taskHistory/taskHistory.lock create mode 100644 .gradle/buildOutputCleanup/buildOutputCleanup.lock create mode 100644 .gradle/buildOutputCleanup/cache.properties create mode 100644 .gradle/vcs-1/gc.properties create mode 100644 .wpilib/wpilib_preferences.json diff --git a/.gradle/5.0/fileChanges/last-build.bin b/.gradle/5.0/fileChanges/last-build.bin new file mode 100644 index 0000000000000000000000000000000000000000..f76dd238ade08917e6712764a16a22005a50573d GIT binary patch literal 1 IcmZPo000310RR91 literal 0 HcmV?d00001 diff --git a/.gradle/5.0/fileHashes/fileHashes.lock b/.gradle/5.0/fileHashes/fileHashes.lock new file mode 100644 index 0000000000000000000000000000000000000000..0267d2981754c1a16dfc5020c15612d831d77e11 GIT binary patch literal 17 ScmZQBvT*d}U(}k$00jUdl>*oR literal 0 HcmV?d00001 diff --git a/.gradle/5.0/gc.properties b/.gradle/5.0/gc.properties new file mode 100644 index 0000000..e69de29 diff --git a/.gradle/5.0/taskHistory/taskHistory.bin b/.gradle/5.0/taskHistory/taskHistory.bin new file mode 100644 index 0000000000000000000000000000000000000000..b78194e36b3c62addeb75c44231b4256ea3d790b GIT binary patch literal 18733 zcmeI%y-Gtd6u|LZ7eNZvLFg+8dKI;HRw{@tBI=@0(%x`QKa!fnD!zz=i!b1$FW{gr z;ppP#>ZYl;rB5J;{0}5KBq5yhTT>UJQvMo+n8f@fB|`uK1Q0*~0R#|0009ILKmY** z5I_I{1Q0*~f&U_K6dRc-nyD;K4U^eRAy!H;N!m|KH^(2JC&ls3=J@|$yvF^7;*1#q z1Q0*~0R#|0009ILKmY**5I_I{1Q0*~0R#|0009ILKmY**5I_I{1Q0*~0R#|0009IL zKmY**{(`_-EaEMW*WpNRoek{`Z>ne4&8wOXRo|2~)$6S5^HH&9K%+v;F>1_)pT056aOk^lez literal 0 HcmV?d00001 diff --git a/.gradle/buildOutputCleanup/cache.properties b/.gradle/buildOutputCleanup/cache.properties new file mode 100644 index 0000000..2194bd8 --- /dev/null +++ b/.gradle/buildOutputCleanup/cache.properties @@ -0,0 +1,2 @@ +#Sat Jan 19 11:45:29 MST 2019 +gradle.version=5.0 diff --git a/.gradle/vcs-1/gc.properties b/.gradle/vcs-1/gc.properties new file mode 100644 index 0000000..e69de29 diff --git a/.wpilib/wpilib_preferences.json b/.wpilib/wpilib_preferences.json new file mode 100644 index 0000000..6639f9b --- /dev/null +++ b/.wpilib/wpilib_preferences.json @@ -0,0 +1,6 @@ +{ + "currentLanguage": "java", + "enableCppIntellisense": false, + "projectYear": "none", + "teamNumber": 4388 +} \ No newline at end of file diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Drive.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Drive.java index 2c65d1f..d2df606 100644 --- a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Drive.java +++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Drive.java @@ -38,6 +38,7 @@ import com.ctre.phoenix.motorcontrol.NeutralMode; import com.kauailabs.navx.frc.AHRS; import com.revrobotics.CANEncoder; +import com.revrobotics.CANPIDController; import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMaxLowLevel.MotorType; @@ -93,7 +94,7 @@ public class Drive extends Subsystem implements ControlLoopable public static final double MP_MAX_TURN_T2 = 200; // Motor controllers - private ArrayList motorControllers = new ArrayList(); + private ArrayList motorControllers = new ArrayList(); private CANSparkMax leftDrive1; private CANSparkMax leftDrive2; @@ -264,11 +265,12 @@ public class Drive extends Subsystem implements ControlLoopable rightDrive2.setNeutralMode(NeutralMode.Brake); rightDrive2.set(ControlMode.Follower, rightDrive1.getDeviceID()); - + leftPIDController = new CANPIDController(leftDrive1); + rightPIDController = new CANPIDController(rightDrive1); - motorControllers.add(leftDrive1); - motorControllers.add(rightDrive1); + motorControllers.add(leftPIDController); + motorControllers.add(rightPIDController); //m_drive = new RobotDrive(leftDrive1, rightDrive1); //m_drive.setInvertedMotor(RobotDrive.MotorType.kRearLeft, true); @@ -757,14 +759,16 @@ public class Drive extends Subsystem implements ControlLoopable } @Override + public void setPeriodMs(long periodMs) { + /* mpStraightController = new MPTalonPIDController(periodMs, mpStraightPIDParams, motorControllers); mpTurnController = new MPSoftwarePIDController(periodMs, mpTurnPIDParams, motorControllers); pidTurnController = new SoftwarePIDController(pidTurnPIDParams, motorControllers); mpPathController = new MPTalonPIDPathController(periodMs, mpPathPIDParams, motorControllers); mpPathVelocityController = new MPTalonPIDPathVelocityController(periodMs, mpPathVelocityPIDParams, motorControllers); adaptivePursuitController = new AdaptivePurePursuitController(periodMs, adaptivePursuitPIDParams, motorControllers); - + */ this.periodMs = periodMs; }