Team4388/2019-Hit-or-Miss
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Fred18295
2019-01-19 13:19:49 -07:00
parent f749752b45
commit 120b7ff5b8
10 changed files with 17 additions and 5 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Drive.java
+9 -5
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@@ -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<CANTalonEncoder> motorControllers = new ArrayList<CANTalonEncoder>();
private ArrayList<CANPIDController> motorControllers = new ArrayList<CANPIDController>();
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;
}