Team4388/2019-Hit-or-Miss
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Fixed errors with PID integration

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mayabartels
2019-01-25 15:44:07 -08:00
parent 856f0175e0
commit cc4ff1a22b
1 changed files with 20 additions and 7 deletions
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2019robot/src/main/java/org/usfirst/frc4388/utility/CANTalonEncoder.java
+20 -7
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@@ -1,5 +1,6 @@
package org.usfirst.frc4388.utility;
import com.ctre.phoenix.motorcontrol.ControlMode;
import com.ctre.phoenix.motorcontrol.FeedbackDevice;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
@@ -32,35 +33,47 @@ public class CANTalonEncoder extends WPI_TalonSRX
this.isRight = isRight;
}
public double convertEncoderTicksToWorld(double encoderTicks) {
public double convertEncoderTicksToWorld(double encoderTicks)
{
return encoderTicks / encoderTicksToWorld;
}
public void setWorld(ControlMode mode, double worldValue)
{
this.set(mode, convertEncoderWorldToTicks(worldValue));
}
public double convertEncoderWorldToTicks(double worldValue) {
public double convertEncoderWorldToTicks(double worldValue)
{
return worldValue * encoderTicksToWorld;
}
public void setWorld(double worldValue) {
public void setWorld(double worldValue)
{
//this.set(convertEncoderWorldToTicks(worldValue));
this.set(getControlMode(), convertEncoderWorldToTicks(worldValue)); //TODO: change to explicit mode set?
}
public void setPositionWorld(double worldValue) {
public void setPositionWorld(double worldValue)
{
//this.setPosition(convertEncoderWorldToTicks(worldValue));
this.setSelectedSensorPosition((int)convertEncoderWorldToTicks(worldValue), 0, 0); //TODO: verify
}
public double getPositionWorld() {
public double getPositionWorld()
{
//return convertEncoderTicksToWorld(this.getPosition());
return convertEncoderTicksToWorld(this.getSelectedSensorPosition(0)); //TODO: verify want 0="Primary closed-loop"
}
public void setVelocityWorld(double worldValue) {
public void setVelocityWorld(double worldValue)
{
//this.set(convertEncoderWorldToTicks(worldValue) * 0.1);
this.set(getControlMode(), convertEncoderWorldToTicks(worldValue) * 0.1); //TODO: change to explicit mode set?
}
public double getVelocityWorld() {
public double getVelocityWorld()
{
//return convertEncoderTicksToWorld(this.getSpeed() / 0.1);
return convertEncoderTicksToWorld(this.getSelectedSensorVelocity(0) / 0.1); //TODO: verify want 0="Primary closed-loop"
}