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added more arm command stuff

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This commit is contained in:
66945
2023-03-14 10:47:17 -06:00
parent 2986103e9f
commit bc5889595d
3 changed files with 33 additions and 47 deletions
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src/main/java/frc4388/robot/commands/PelvicInflammatoryDisease.java
+12 -11
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@@ -8,16 +8,19 @@ import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.utility.Gains;
public abstract class PelvicInflammatoryDisease extends CommandBase {
protected Gains gains;
private double output = 0;
protected Gains gains;
private double output = 0;
private double tolerance = 0;
/** Creates a new PelvicInflammatoryDisease. */
public PelvicInflammatoryDisease(double kp, double ki, double kd, double kf) {
gains = new Gains(kp, ki, kd, kf, 0);
public PelvicInflammatoryDisease(double kp, double ki, double kd, double kf, double tolerance) {
gains = new Gains(kp, ki, kd, kf, 0);
this.tolerance = tolerance;
}
public PelvicInflammatoryDisease(Gains gains) {
this.gains = gains;
public PelvicInflammatoryDisease(Gains gains, double tolerance) {
this.gains = gains;
this.tolerance = tolerance;
}
/** produces the error from the setpoint */
@@ -48,11 +51,9 @@ public abstract class PelvicInflammatoryDisease extends CommandBase {
runWithOutput(output);
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {}
// Returns true when the command should end.
@Override
public boolean isFinished() { return false; }
public boolean isFinished() {
return Math.abs(getError()) < tolerance;
}
}