Team4388/2019-Hit-or-Miss
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climb working, drive encoder fix

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moved from update pos, check with pid controllers, made arm nutraly boyant.
This commit is contained in:
lukesta182
2019-03-03 13:08:05 -07:00
parent 26825d10b4
commit ba554eb1b4
3 changed files with 15 additions and 10 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java
+1 -1
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@@ -291,7 +291,7 @@ public class Arm extends Subsystem implements ControlLoopable
private void controlManualWithJoystick() {
double joyStickSpeed = -Robot.oi.getOperatorController().getLeftYAxis();
setSpeedJoystick((joyStickSpeed*.30)+.12);
setSpeedJoystick((joyStickSpeed*.30)+.1);
}
/*
public void setShiftState(ElevatorSpeedShiftState state) {
2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Climber.java
+2 -2
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@@ -111,8 +111,8 @@ public class Climber extends Subsystem{
climberBack.set(0.5 * SPEED);
climberFront.set(SPEED);
}*/
climberBack.set(-rightTriggerInput * 0.3);
climberFront.set(leftTriggerInput * 0.6);
climberBack.set(-rightTriggerInput * 0.8);
climberFront.set(leftTriggerInput * 0.7);
}
else {
climberBack.set(rightTriggerInput*.3);
2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Drive.java
+12 -7
View File
@@ -108,6 +108,9 @@ public class Drive extends Subsystem implements ControlLoopable
private CANEncoder left_distance;
private CANEncoder right_distance;
private CANPIDController leftDrive1_Controller;
private CANPIDController rightDrive1_Controller;
@@ -286,9 +289,12 @@ public class Drive extends Subsystem implements ControlLoopable
//System.err.println("After motor settings.");
CANPIDController leftDrive1_Controller = new CANPIDController(leftDrive1);
CANPIDController rightDrive1_Controller = new CANPIDController(rightDrive1);
leftDrive1_Controller = new CANPIDController(leftDrive1);
rightDrive1_Controller = new CANPIDController(rightDrive1);
left_distance = leftDrive1.getEncoder();
right_distance = rightDrive1.getEncoder();
motorControllers.add(leftDrive1_Controller);
motorControllers.add(rightDrive1_Controller);
@@ -483,8 +489,8 @@ public class Drive extends Subsystem implements ControlLoopable
public void updatePose() {
//m_encoder = m_motor.getEncoder();
left_distance = leftDrive1.getEncoder();
right_distance = rightDrive1.getEncoder();
/*left_distance = leftDrive1.getEncoder();
right_distance = rightDrive1.getEncoder(); Moved to Drive constructor*/
Rotation2d gyro_angle = Rotation2d.fromDegrees(-getGyroAngleDeg());
lastPose = currentPose;
// currentPose = generateOdometryFromSensors(left_distance - left_encoder_prev_distance_, right_distance - right_encoder_prev_distance_, gyro_angle);
@@ -868,9 +874,8 @@ public class Drive extends Subsystem implements ControlLoopable
SmartDashboard.putNumber("Update Period (ms)", lastControlLoopUpdatePeriod * 1000.0);
//SmartDashboard.putNumber("Right Pos Ticks", right_distance.getPosition());//rightDrive1.getSelectedSensorPosition(0)); FIX TODAY
//SmartDashboard.putNumber("Left Pos Ticks", left_distance.getPosition());//leftDrive1.getSelectedSensorPosition(0));
SmartDashboard.putNumber("Right Pos Ticks", right_distance.getPosition());//rightDrive1.getSelectedSensorPosition(0)); FIX TODAY
SmartDashboard.putNumber("Left Pos Ticks", left_distance.getPosition());//leftDrive1.getSelectedSensorPosition(0));
//SmartDashboard.putNumber("Right Pos Inches", -encoderRight.getPosition());//rightDrive1.getPositionWorld());
//SmartDashboard.putNumber("Left Pos Inches", encoderLeft.getPosition());//leftDrive1.getPositionWorld());