Team4388/2019-Hit-or-Miss
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Merge pull request #12 from Team4388/smartdash-update

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Update SmartDashboard
This commit is contained in:
Keenan D. Buckley
2019-02-18 11:34:57 -07:00
committed by GitHub
parent 3e2d8f4169 f09bf2d2da
commit 49f10c4725
1 changed files with 13 additions and 5 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Drive.java
+13 -5
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@@ -869,7 +869,7 @@ public class Drive extends Subsystem implements ControlLoopable
//SmartDashboard.putBoolean("Hopper Sensor Blue", isHopperSensorBlueOn()); //SmartDashboard.putBoolean("Hopper Sensor Blue", isHopperSensorBlueOn());
SmartDashboard.putBoolean("Drive Hold", controlMode == DriveControlMode.HOLD); SmartDashboard.putBoolean("Drive Hold", controlMode == DriveControlMode.HOLD);
//SmartDashboard.putNumber("Yaw Angle Pigeon Deg", getGyroPigeonAngleDeg()); //SmartDashboard.putNumber("Yaw Angle Pigeon Deg", getGyroPigeonAngleDeg());
SmartDashboard.putNumber("Yaw Angle Deg", getGyroAngleDeg()); SmartDashboard.putNumber("Yaw Angle Deg", Math.abs(getGyroAngleDeg() % 360));
MotionProfilePoint mpPoint = mpTurnController.getCurrentPoint(); MotionProfilePoint mpPoint = mpTurnController.getCurrentPoint();
double delta = mpPoint != null ? getGyroAngleDeg() - mpTurnController.getCurrentPoint().position : 0; double delta = mpPoint != null ? getGyroAngleDeg() - mpTurnController.getCurrentPoint().position : 0;
SmartDashboard.putNumber("Gyro Delta", delta); SmartDashboard.putNumber("Gyro Delta", delta);
@@ -881,14 +881,22 @@ public class Drive extends Subsystem implements ControlLoopable
SmartDashboard.putNumber("Move Output", m_moveOutput); SmartDashboard.putNumber("Move Output", m_moveOutput);
SmartDashboard.putNumber("Steer Input", m_steerInput); SmartDashboard.putNumber("Steer Input", m_steerInput);
SmartDashboard.putNumber("Move Input", m_moveInput); SmartDashboard.putNumber("Move Input", m_moveInput);
SmartDashboard.putString("MODE", "TEST");
if (encoderLeft.getPosition() != 0 && encoderRight.getPosition() != 0){
SmartDashboard.putNumber("Distance Inches", (encoderLeft.getPosition()-encoderRight.getPosition())/2);//rightDrive1.getPositionWorld());
}
} }
catch (Exception e) { catch (Exception e) {
System.err.println("Drivetrain update status error"); System.err.println("Drivetrain update status error");
} }
} }
else { else if (operationMode == Robot.OperationMode.COMPETITION) {
SmartDashboard.putNumber("Yaw Angle Deg", Math.abs(getGyroAngleDeg() % 360));
SmartDashboard.putString("MODE", "SICKO");
if (encoderLeft.getPosition() != 0 && encoderRight.getPosition() != 0){
SmartDashboard.putNumber("Distance Inches", (encoderLeft.getPosition()-encoderRight.getPosition())/2);//rightDrive1.getPositionWorld());
}
SmartDashboard.putNumber("Update Period (ms)", lastControlLoopUpdatePeriod * 1000.0);
} }
} }
}
}