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DummySensor class, shoot is tested

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aarav18
2022-03-05 11:07:54 -07:00
parent 71e082e7bd
commit f895352bb9
10 changed files with 185 additions and 119 deletions
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src/main/java/frc4388/utility/Gains.java
+24 -24
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@@ -6,14 +6,14 @@ package frc4388.utility;
/** Add your docs here. */
public class Gains {
public double m_kP;
public double m_kI;
public double m_kD;
public double m_kF;
public int m_kIzone;
public double m_kPeakOutput;
public double m_kmaxOutput;
public double m_kminOutput;
public double kP;
public double kI;
public double kD;
public double kF;
public int kIzone;
public double kPeakOutput;
public double kmaxOutput;
public double kminOutput;
/**
* Creates Gains object for PIDs
@@ -26,14 +26,14 @@ public class Gains {
*/
public Gains(double kP, double kI, double kD, double kF, int kIzone, double kPeakOutput)
{
m_kP = kP;
m_kI = kI;
m_kD = kD;
m_kF = kF;
m_kIzone = kIzone;
m_kPeakOutput = kPeakOutput;
m_kmaxOutput = m_kPeakOutput;
m_kminOutput = -m_kPeakOutput;
this.kP = kP;
this.kI = kI;
this.kD = kD;
this.kF = kF;
this.kIzone = kIzone;
this.kPeakOutput = kPeakOutput;
this.kmaxOutput = this.kPeakOutput;
this.kminOutput = -this.kPeakOutput;
}
/**
@@ -48,13 +48,13 @@ public class Gains {
*/
public Gains(double kP, double kI, double kD, double kF, int kIzone, double kMinOutput, double kMaxOutput)
{
m_kP = kP;
m_kI = kI;
m_kD = kD;
m_kF = kF;
m_kIzone = kIzone;
m_kminOutput = kMinOutput;
m_kmaxOutput = kMaxOutput;
m_kPeakOutput = (Math.abs(m_kminOutput) > Math.abs(m_kmaxOutput)) ? Math.abs(m_kminOutput) : Math.abs(m_kmaxOutput);
this.kP = kP;
this.kI = kI;
this.kD = kD;
this.kF = kF;
this.kIzone = kIzone;
this.kminOutput = kMinOutput;
this.kmaxOutput = kMaxOutput;
this.kPeakOutput = (Math.abs(this.kminOutput) > Math.abs(this.kmaxOutput)) ? Math.abs(this.kminOutput) : Math.abs(this.kmaxOutput);
}
}