Team4388/2019-Hit-or-Miss
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motion magic minor edits

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lukesta182
2019-03-19 22:06:17 -06:00
parent 53330ccd9a
commit 4897484183
1 changed files with 2 additions and 3 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java
+2 -3
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@@ -87,7 +87,7 @@ public class Wrist extends Subsystem implements ControlLoopable
private PIDParams pidPIDParamsHiGear = new PIDParams(0.075, 0.0, 0.0, 0.0, 0.0, 0.0);
public static final double KF_UP = 0.01;
public static final double KF_DOWN = 0.0;
public static final double P_Value = 4;
public static final double P_Value = 1;
public static final double I_Value = 0.0000;
public static final double D_Value = 000;
public static final double F_Value = 1;
@@ -104,7 +104,7 @@ public class Wrist extends Subsystem implements ControlLoopable
// Misc
public static final double AUTO_ZERO_MOTOR_CURRENT = 4.0;
private boolean isFinished;
private WristControlMode wristControlMode = WristControlMode.MOTION_MAGIC;
private WristControlMode wristControlMode = WristControlMode.JOYSTICK_PID;
public double targetPositionInchesPID = 0;
public double targetPositionInchesMM = 0;
private boolean firstMpPoint;
@@ -194,7 +194,6 @@ public class Wrist extends Subsystem implements ControlLoopable
}
public void updatePositionMM(double targetPositionInches){
targetPositionInchesMM = limitPosition(targetPositionInches);
System.err.println("we are here");
//double startPositionInches = motor1.getPositionWorld();
//System.err.println("compensation = " + compensation);
wristMotor1.set(ControlMode.MotionMagic, targetPositionInches);