Team4388/2019-Hit-or-Miss
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Merge branch 'Wrist' of https://github.com/Team4388/2019-Hit-or-Miss into Wrist

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mayabartels
2019-02-01 18:32:40 -08:00
parent b64c23c620 6a44db8417
commit ae502b8af8
2 changed files with 7 additions and 2 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/Robot.java
+2 -1
View File
@@ -103,7 +103,8 @@ public class Robot extends IterativeRobot
updateChoosers();
controlLoop.start();
drive.resetEncoders();
drive.endGyroCalibration();
drive.endGyroCalibration();
//Arm.setArmControlMode(Arm.ArmControlMode.JOYSTICK_MANUAL);
updateStatus();
}
2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java
+5 -1
View File
@@ -112,6 +112,8 @@ public class Arm extends Subsystem implements Loop
return this.armControlMode;
}
public void setSpeedJoystick(double speed) {
motor1.set(ControlMode.PercentOutput, speed);
@@ -127,7 +129,7 @@ public class Arm extends Subsystem implements Loop
public void updatePositionPID(double targetPositionInches) {
targetPositionInchesPID = limitPosition(targetPositionInches);
double startPositionInches = motor1.getPositionWorld();
double startPositionInches = motor1.getPositionWorld()*Y_POSITION_MATH;
mpController.setTarget(targetPositionInchesPID, targetPositionInchesPID > startPositionInches ? KF_UP : KF_DOWN);
}
@@ -165,6 +167,8 @@ public class Arm extends Subsystem implements Loop
case JOYSTICK_MANUAL:
controlManualWithJoystick();
break;
default:
break;
}