Team4388/2019-Hit-or-Miss
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Make Wrist move with Arm

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HFocus
2019-03-16 14:17:15 -06:00
parent 4c707871f6
commit e0947b51d9
2 changed files with 4 additions and 2 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java
+3 -1
View File
@@ -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);
}
2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java
+1 -1
View File
@@ -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;