Team4388/2019-Hit-or-Miss
1
0
Fork 0
mirror of https://github.com/Team4388/2019-Hit-or-Miss.git synced 2026-06-09 08:38:06 -06:00
Code Issues Packages Projects Releases Wiki Activity

Fix armControlMode vs controlMode conflict

Browse Source 
controlLoopUpdate() was reading rogue variable "controlMode", which never changed, instead of "armControlMode" used by the rest of the code
This commit is contained in:
Dave Staudacher
2019-03-06 05:56:54 -07:00
parent 009e3d1443
commit edaf45b6ca
1 changed files with 6 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files
2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java
+6 -7
View File
@@ -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;
}
}
}