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some changes

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aarav18
2022-03-01 17:18:25 -07:00
parent b249f8f690
commit b01d79ae70
1 changed files with 7 additions and 2 deletions
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src/main/java/frc4388/robot/commands/Shoot.java
+7 -2
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@@ -35,7 +35,7 @@ public class Shoot extends CommandBase {
public double error;
public double prevError;
public double kP, kI, kD;
public double integral, derivative;
public double proportional, integral, derivative;
public double time;
public double output;
public double tolerance = 5.0;
@@ -58,6 +58,7 @@ public class Shoot extends CommandBase {
kI = 0.0;
kD = 0.0;
proportional = 0;
integral = 0;
derivative = 0;
time = 0.02;
@@ -77,6 +78,8 @@ public class Shoot extends CommandBase {
m_odoY = 0; //TODO: get this value using odometry
m_distance = Math.sqrt(Math.pow(m_odoX, 2) + Math.pow(m_odoY, 2));
m_gyroAngle = m_swerve.getRegGyro().getDegrees();
// get targets (shooter tables)
m_targetVel = m_boomBoom.getVelocity(m_distance);
m_targetHood = m_boomBoom.getHood(m_distance);
@@ -117,9 +120,11 @@ public class Shoot extends CommandBase {
public void runPID() {
prevError = error;
updateError();
proportional = error;
integral = integral + error * time;
derivative = (error - prevError) / time;
output = kP * error + kI * integral + kD * derivative;
output = kP * proportional + kI * integral + kD * derivative;
}
// Called every time the scheduler runs while the command is scheduled.