Team4388/2023WayOfTheRobot
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added pid controller

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Astatin3
2023-01-12 18:49:21 -07:00
parent 997e804f77
commit 66d0f2f19a
5 changed files with 60 additions and 9 deletions
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src/main/java/frc4388/robot/Robot.java
+9 -1
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@@ -7,9 +7,13 @@
package frc4388.robot;
import com.ctre.phoenix.sensors.WPI_Pigeon2;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import frc4388.utility.RobotGyro;
import frc4388.utility.RobotTime;
/**
@@ -106,6 +110,8 @@ public class Robot extends TimedRobot {
m_autonomousCommand.cancel();
}
m_robotTime.startMatchTime();
m_robotContainer.gyroRef.reset();
}
/**
@@ -113,7 +119,9 @@ public class Robot extends TimedRobot {
*/
@Override
public void teleopPeriodic() {
SmartDashboard.putNumber("yaw", m_robotContainer.gyroRef.getAngle());
SmartDashboard.putNumber("pitch", m_robotContainer.gyroRef.getPitch());
SmartDashboard.putNumber("roll", m_robotContainer.gyroRef.getRoll());
}
/**