From edaf45b6ca22cce2aeb07eca2eaa82af18c37ccd Mon Sep 17 00:00:00 2001 From: Dave Staudacher Date: Wed, 6 Mar 2019 05:56:54 -0700 Subject: [PATCH] Fix armControlMode vs controlMode conflict controlLoopUpdate() was reading rogue variable "controlMode", which never changed, instead of "armControlMode" used by the rest of the code --- .../org/usfirst/frc4388/robot/subsystems/Arm.java | 13 ++++++------- 1 file changed, 6 insertions(+), 7 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 e5b58fa..0324376 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 @@ -91,7 +91,6 @@ public class Arm extends Subsystem implements ControlLoopable // Pneumatics private Solenoid speedShift; - private ArmControlMode controlMode = ArmControlMode.JOYSTICK_MANUAL; // Misc public static final double AUTO_ZERO_MOTOR_CURRENT = 4.0; private boolean isFinished; @@ -253,23 +252,23 @@ public class Arm extends Subsystem implements ControlLoopable lastControlLoopUpdateTimestamp = currentTimestamp; // Do the update - if (controlMode == ArmControlMode.JOYSTICK_MANUAL) { + if (armControlMode == ArmControlMode.JOYSTICK_MANUAL) { controlManualWithJoystick(); } else if (!isFinished) { - if (controlMode == ArmControlMode.MOTION_PROFILE) { + if (armControlMode == ArmControlMode.MOTION_PROFILE) { isFinished = mpController.controlLoopUpdate(getPositionInches()); } - if (controlMode == ArmControlMode.JOYSTICK_PID){ + if (armControlMode == ArmControlMode.JOYSTICK_PID){ controlPidWithJoystick(); System.err.println("test of pid"); } - /*else if (controlMode == ArmControlMode.MP_PATH_VELOCITY) { + /*else if (armControlMode == ArmControlMode.MP_PATH_VELOCITY) { isFinished = mpPathVelocityController.controlLoopUpdate(getGyroAngleDeg()); } - else if (controlMode == ArmControlMode.ADAPTIVE_PURSUIT) { + else if (armControlMode == ArmControlMode.ADAPTIVE_PURSUIT) { updatePose(); isFinished = adaptivePursuitController.controlLoopUpdate(currentPose); }*/ @@ -367,4 +366,4 @@ public class Arm extends Subsystem implements ControlLoopable } return instance; } -} \ No newline at end of file +}