Team4388/2019-Hit-or-Miss
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Introduce Failsafe for if the robot position goes belows negative

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(Sets the negative position to the new 0)
This commit is contained in:
Keenan D. Buckley
2019-03-09 14:54:54 -07:00
parent 9852f11e2c
commit 387558d635
1 changed files with 4 additions and 3 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java
+4 -3
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@@ -171,7 +171,10 @@ public class Arm extends Subsystem implements ControlLoopable
}
public void updatePositionPID(double targetPositionInches) {
targetPositionInchesPID = limitPosition(targetPositionInches);
targetPositionInchesPID = limitPosition(targetPositionInches);
if (limitPosition(motor1.getPositionWorld()) == MIN_POSITION_INCHES){
resetencoder();
}
double startPositionInches = motor1.getPositionWorld();
//mpController.setTarget(targetPositionInchesPID, targetPositionInchesPID > startPositionInches ? KF_UP : KF_DOWN);
motor1.set(ControlMode.Position, targetPositionInches);
@@ -309,8 +312,6 @@ public class Arm extends Subsystem implements ControlLoopable
double deltaPosition = joystickPosition * joystickInchesPerMs;
targetPositionInchesPID = targetPositionInchesPID + deltaPosition;
updatePositionPID(targetPositionInchesPID);
}
private void ControlWithJoystickhold(){