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Added arm angle to determine wrist angle

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mayabartels
2019-01-28 17:58:02 -08:00
parent 4d9b855342
commit 2cd409e807
1 changed files with 4 additions and 1 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java
+4 -1
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@@ -15,6 +15,7 @@ import org.usfirst.frc4388.utility.CANTalonEncoder;
import org.usfirst.frc4388.utility.ControlLoopable;
import org.usfirst.frc4388.utility.PIDParams;
import org.usfirst.frc4388.utility.SoftwarePIDPositionController;
import org.usfirst.frc4388.robot.subsystems.Arm;
import com.ctre.phoenix.motorcontrol.FeedbackDevice;
import com.ctre.phoenix.motorcontrol.LimitSwitchNormal;
@@ -66,12 +67,14 @@ public class Wrist extends Subsystem
public static final double JOYSTICK_INCHES_PER_MS_HI = 0.75;
public static final double JOYSTICK_INCHES_PER_MS_LO = JOYSTICK_INCHES_PER_MS_HI/3.68 * 0.8;
public static final double JOYSTICK_Degrees_PER_MS_LO = JOYSTICK_INCHES_PER_MS_HI/3.68 * 0.8;
public double armAngleDegrees = Robot.arm.ARM_ANGLE_DEGREES;
//Misc
private WristControlMode wristControlMode = WristControlMode.JOYSTICK_MANUAL;
private boolean isFinished;
private double targetPositionInchesPID = 0;
private double targetAngleDegreesPID = 0;
private double targetAngleDegreesPID = -(180 - armAngleDegrees);
private double joystickInchesPerMs = JOYSTICK_INCHES_PER_MS_LO;
private double joystickDegreesPerMs = JOYSTICK_Degrees_PER_MS_LO;