Team4388/2023WayOfTheRobot
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Merge branch 'gyro_fix' of https://github.com/Team4388/2023WayOfTheRobot into gyro_fix

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aarav18
2023-01-19 17:47:39 -07:00
parent c4b1ff29ae 158513c92d
commit da30879cd6
2 changed files with 9 additions and 13 deletions
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src/main/java/frc4388/robot/commands/AutoBalanceTF2.java
+8 -12
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@@ -4,17 +4,8 @@
package frc4388.robot.commands; package frc4388.robot.commands;
import com.ctre.phoenix.motorcontrol.ControlMode;
import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
import com.ctre.phoenix.motorcontrol.can.TalonSRX;
import com.ctre.phoenix.sensors.WPI_Pigeon2;
import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.PIDCommand;
import frc4388.robot.Robot; import frc4388.robot.Robot;
import frc4388.utility.RobotGyro;
// NOTE: Consider using this command inline, rather than writing a subclass. For more // NOTE: Consider using this command inline, rather than writing a subclass. For more
// information, see: // information, see:
@@ -23,9 +14,8 @@ public class AutoBalanceTF2 extends PelvicInflamitoryDisease {
Robot.MicroBot bot; Robot.MicroBot bot;
/** Creates a new AutoBalanceTF2. */ /** Creates a new AutoBalanceTF2. */
// ! finish integrating PelvicInflamatoryDisease
public AutoBalanceTF2(Robot.MicroBot bot) { public AutoBalanceTF2(Robot.MicroBot bot) {
super(.7, .02, .1, 0); super(.7, .1, 15, 0);
addRequirements(bot); addRequirements(bot);
this.bot = bot; this.bot = bot;
} }
@@ -37,11 +27,17 @@ public class AutoBalanceTF2 extends PelvicInflamitoryDisease {
@Override @Override
public void runWithOutput(double output) { public void runWithOutput(double output) {
double out2 = -MathUtil.clamp(output / 20, -1, 1); double out2 = MathUtil.clamp(output / 40, -.5, .5);
if (Math.abs(bot.gyro.getPitch()) < 3) out2 = 0; if (Math.abs(bot.gyro.getPitch()) < 3) out2 = 0;
bot.setOutput(out2); bot.setOutput(out2);
} }
@Override
public void initialize() {
super.initialize();
this.bot.gyro.reset();
}
// Returns true when the command should end. // Returns true when the command should end.
@Override @Override
public boolean isFinished() { public boolean isFinished() {
src/main/java/frc4388/robot/commands/PelvicInflamitoryDisease.java
+1 -1
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@@ -36,7 +36,7 @@ public abstract class PelvicInflamitoryDisease extends CommandBase {
@Override @Override
public void execute() { public void execute() {
double error = getError(); double error = getError();
cumError += error; cumError += error * .02; // 20 ms
double delta = error - prevError; double delta = error - prevError;
output = error * gains.kP; output = error * gains.kP;