Team4388/2023WayOfTheRobot
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arm pids

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This commit is contained in:
Abhishrek05
2023-03-14 15:13:41 -06:00
parent af17c0c056
commit 679568f3b2
4 changed files with 10 additions and 6 deletions
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src/main/java/frc4388/robot/commands/PivotCommand.java
+4 -2
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@@ -4,6 +4,7 @@
package frc4388.robot.commands;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import frc4388.robot.subsystems.Arm;
public class PivotCommand extends PelvicInflammatoryDisease {
@@ -12,7 +13,7 @@ public class PivotCommand extends PelvicInflammatoryDisease {
/** Creates a new ArmCommand. */
public PivotCommand(Arm arm, double target) {
super(0.6, 0, 0, 0, 0);
super(6, 1.5, 0, 0, 0.015);
this.arm = arm;
this.target = target;
addRequirements(arm);
@@ -20,11 +21,12 @@ public class PivotCommand extends PelvicInflammatoryDisease {
@Override
public double getError() {
return (arm.getArmRotation() - target) / 360;
return (target - arm.getArmRotation()) / 360;
}
@Override
public void runWithOutput(double output) {
SmartDashboard.putNumber("pivot output", output);
arm.setRotVel(output);
}
}