Team4388/2019-Hit-or-Miss
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Finishing Touches

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- See new Issue for testing procedures
This commit is contained in:
HFocus
2019-09-08 20:07:32 -06:00
parent 7809be7e76
commit ea59ae0f14
2 changed files with 6 additions and 7 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java
+1 -1
View File
@@ -105,7 +105,7 @@ public class OI
JoystickButton help = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.X_BUTTON);
help.whenPressed(new ArmSetMode(ArmControlMode.JOYSTICK_MANUAL));
help.whenReleased(new ArmSetMode(ArmControlMode.MOTION_MAGIC));
help.whenReleased(new ArmSetMode(ArmControlMode.JOYSTICK_PID));
help.whenPressed(new WristSetMode(WristControlMode.JOYSTICK_MANUAL));
help.whenReleased(new WristSetMode(WristControlMode.JOYSTICK_PID));
2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java
+5 -6
View File
@@ -134,7 +134,7 @@ public class Arm extends Subsystem implements ControlLoopable
// Misc
public static final double AUTO_ZERO_MOTOR_CURRENT = 4.0;
private boolean isFinished;
private ArmControlMode armControlMode = ArmControlMode.SMART_MOTION;
private ArmControlMode armControlMode = ArmControlMode.JOYSTICK_MANUAL;
public PlaceMode placeMode = PlaceMode.HATCH;
public double targetPositionInchesPID = 0;
public double targetPositionInchesSM = 0;
@@ -226,7 +226,8 @@ public class Arm extends Subsystem implements ControlLoopable
controlManualWithJoystick();
// System.err.println(motorController.getControlMode());
}
else if (!isFinished) {
//else if (!isFinished) {
else {
if (armControlMode == ArmControlMode.JOYSTICK_PID){
controlPidWithJoystick();
// System.err.println(motor1.getControlMode());
@@ -331,11 +332,9 @@ public class Arm extends Subsystem implements ControlLoopable
resetEncoder();
}
double startPositionInches = motorEncoder.getPosition();
// mpController.setTarget(targetPositionInchesPID, targetPositionInchesPID > startPositionInches ? KF_UP : KF_DOWN);
motorController.setFF(targetPositionInchesPID > startPositionInches ? kFF_Up : kFF_Down);
motorController.setReference(targetPositionInches, ControlType.kPosition);
// motor1.setClosedLoopRampRate(RampRate);
motorController.setFF(targetPositionInchesPID > startPositionInches ? kFF_Up : kFF_Down);
// motor1.configClosedloopRamp(0);
// motor1.configPeakCurrentLimit(5);
@@ -369,8 +368,8 @@ public class Arm extends Subsystem implements ControlLoopable
}
double startPositionInches = motorEncoder.getPosition();
motorController.setReference(targetPositionInches, ControlType.kSmartMotion);
motorController.setFF(targetPositionInchesPID > startPositionInches ? kFF_Up : kFF_Down);
motorController.setReference(targetPositionInches, ControlType.kSmartMotion);
}
private double limitPosition(double targetPosition) {