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Turn maxYawError into a constant

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This commit is contained in:
Keenan D. Buckley
2019-03-08 16:41:44 -07:00
parent d33379e1e5
commit 2d12b4e246
1 changed files with 2 additions and 2 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Drive.java
+2 -2
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@@ -69,6 +69,7 @@ public class Drive extends Subsystem implements ControlLoopable
public static final double ENCODER_TICKS_TO_INCHES = Constants.kDriveEncoderTicksPerInch; public static final double ENCODER_TICKS_TO_INCHES = Constants.kDriveEncoderTicksPerInch;
public static final double CLIMB_SPEED = 0.45; public static final double CLIMB_SPEED = 0.45;
static final double MAX_GYRO_LOCK_YAW_ERROR = 5;
public static final double VOLTAGE_RAMP_RATE = 150; // Volts per second public static final double VOLTAGE_RAMP_RATE = 150; // Volts per second
public static final double OPEN_LOOP_RAMP_SECONDS = 12.0 / VOLTAGE_RAMP_RATE; // Seconds from neutral to full public static final double OPEN_LOOP_RAMP_SECONDS = 12.0 / VOLTAGE_RAMP_RATE; // Seconds from neutral to full
@@ -689,12 +690,11 @@ public class Drive extends Subsystem implements ControlLoopable
m_moveOutput = climbSpeed; m_moveOutput = climbSpeed;
} }
else if (controlMode == DriveControlMode.JOYSTICK_STRAIGHT) { else if (controlMode == DriveControlMode.JOYSTICK_STRAIGHT) {
double maxYawError = 5; ///TODO: Put this somehwere else
double yawError = gyroLockAngleDeg - getGyroAngleDeg(); double yawError = gyroLockAngleDeg - getGyroAngleDeg();
m_moveOutput = adjustForSensitivity(m_moveScale, m_moveTrim, m_moveOutput = adjustForSensitivity(m_moveScale, m_moveTrim,
m_moveInput, m_moveNonLinear, MOVE_NON_LINEARITY); m_moveInput, m_moveNonLinear, MOVE_NON_LINEARITY);
m_steerOutput = kPGyro * yawError; m_steerOutput = kPGyro * yawError;
if(m_steerInput != 0 || yawError > maxYawError){ if(m_steerInput != 0 || yawError > MAX_GYRO_LOCK_YAW_ERROR){
controlMode = DriveControlMode.JOYSTICK; controlMode = DriveControlMode.JOYSTICK;
} }
} }