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Create setAbsoluteTurnPID

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Keenan D. Buckley
2019-03-07 18:46:38 -07:00
parent 5ec1f70f43
commit 45dda45878
1 changed files with 7 additions and 0 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Drive.java
+7
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@@ -452,6 +452,13 @@ public class Drive extends Subsystem implements ControlLoopable
pidTurnController.setPIDTurnTarget(relativeTurnAngleDeg + getGyroAngleDeg(), maxError, maxPrevError, turnType);
setControlMode(DriveControlMode.PID_TURN);
}
public void setAbsoluteTurnPID(double absoluteTurnAngleDeg, double maxError, double maxPrevError, MPSoftwareTurnType turnType) {
this.targetPIDAngle = absoluteTurnAngleDeg;
pidTurnController.setPIDTurnTarget(absoluteTurnAngleDeg, maxError, maxPrevError, turnType);
setControlMode(DriveControlMode.PID_TURN);
}
/*
public void setPathMP(PathGenerator path) {
mpPathController.setPID(mpPathPIDParams);