Team4388/RiseOfRidgebotics2020
1
0
Fork 0
mirror of https://github.com/Team4388/RiseOfRidgebotics2020.git synced 2026-06-09 08:48:01 -06:00
Code Issues Packages Projects Releases Wiki Activity

Try to make shooter work

Browse Source
This commit is contained in:
ryan123rudder
2020-02-20 20:21:28 -07:00
parent 6742028ba9
commit 01a0327cf3
5 changed files with 52 additions and 37 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/subsystems/Storage.java
+12 -10
View File
@@ -18,7 +18,7 @@ import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Gains;
import frc4388.robot.Constants.StorageConstants;
public class Storage extends SubsystemBase {
@@ -29,6 +29,8 @@ public class Storage extends SubsystemBase {
CANEncoder m_encoder = m_storageMotor.getEncoder();
public static Gains m_storageGains = StorageConstants.STORAGE_GAINS;
/**
* Creates a new Storage.
*/
@@ -65,21 +67,21 @@ public class Storage extends SubsystemBase {
}
/* Storage PID Control */
public void runStoragePositionPID(double targetPos, double kP, double kI, double kD, double kIz, double kF, double kmaxOutput, double kminOutput)
public void runStoragePositionPID(double targetPos)
{
// Set PID Coefficients
m_storagePIDController.setP(kP);
m_storagePIDController.setI(kI);
m_storagePIDController.setD(kD);
m_storagePIDController.setIZone(kIz);
m_storagePIDController.setFF(kF);
m_storagePIDController.setOutputRange(kminOutput, kmaxOutput);
m_storagePIDController.setP(m_storageGains.m_kP);
m_storagePIDController.setI(m_storageGains.m_kI);
m_storagePIDController.setD(m_storageGains.m_kD);
m_storagePIDController.setIZone(m_storageGains.m_kIzone);
m_storagePIDController.setFF(m_storageGains.m_kF);
m_storagePIDController.setOutputRange(StorageConstants.storkminOutput, m_storageGains.m_kmaxOutput);
m_storagePIDController.setReference(targetPos, ControlType.kPosition);
}
public void getEncoderPos()
public double getEncoderPos()
{
m_encoder.getPosition();
return m_encoder.getPosition();
}
}