From e0947b51d918bb5f59f3d8218c39666c7cb3b4cd Mon Sep 17 00:00:00 2001 From: HFocus Date: Sat, 16 Mar 2019 14:17:15 -0600 Subject: [PATCH] Make Wrist move with Arm --- .../main/java/org/usfirst/frc4388/robot/subsystems/Arm.java | 4 +++- .../main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java | 2 +- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java index 07db110..3b288c6 100644 --- a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java +++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java @@ -113,7 +113,7 @@ public class Arm extends Subsystem implements ControlLoopable private boolean isFinished; private ArmControlMode armControlMode = ArmControlMode.MOTION_MAGIC; private double targetPositionInchesPID = 0; - private double targetPositionInchesMM = 0; + public static double targetPositionInchesMM = 0; private boolean firstMpPoint; private double joystickInchesPerMs = JOYSTICK_INCHES_PER_MS_LO; private double p = 0; @@ -334,6 +334,8 @@ public class Arm extends Subsystem implements ControlLoopable double deltaPosition = joystickPosition * joystickInchesPerMs; targetPositionInchesMM = targetPositionInchesMM + deltaPosition; updatePositionMM(targetPositionInchesMM); + Wrist.targetPositionInchesPID = targetPositionInchesPID - (deltaPosition/3); + Robot.wrist.updatePositionPID(Wrist.targetPositionInchesPID); } diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java index 855f456..3289a07 100644 --- a/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java +++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java @@ -99,7 +99,7 @@ public class Wrist extends Subsystem implements ControlLoopable public static final double AUTO_ZERO_MOTOR_CURRENT = 4.0; private boolean isFinished; private WristControlMode wristControlMode = WristControlMode.JOYSTICK_PID; - private double targetPositionInchesPID = 0; + public static double targetPositionInchesPID = 0; private boolean firstMpPoint; private double joystickInchesPerMs = JOYSTICK_INCHES_PER_MS_LO; private double p = 0;