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Added Neo PID stuff in Storage

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mayabartels
2020-02-10 16:57:41 -08:00
parent 68a39f8eca
commit 07ab93a06f
3 changed files with 42 additions and 3 deletions
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src/main/java/frc4388/robot/subsystems/Storage.java
+23 -3
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@@ -9,7 +9,9 @@ package frc4388.robot.subsystems;
import com.ctre.phoenix.motorcontrol.can.TalonSRX;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import com.revrobotics.CANPIDController;
import com.revrobotics.CANSparkMax;
import com.revrobotics.ControlType;
import com.revrobotics.SparkMax;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
@@ -21,6 +23,9 @@ import frc4388.robot.Constants.StorageConstants;
public class Storage extends SubsystemBase {
private CANSparkMax m_storageMotor = new CANSparkMax(StorageConstants.STORAGE_CAN_ID, MotorType.kBrushless);
private DigitalInput[] m_beamSensors = new DigitalInput[6];
CANPIDController m_storagePIDController = m_storageMotor.getPIDController();
/**
* Creates a new Storage.
*/
@@ -40,17 +45,32 @@ public class Storage extends SubsystemBase {
/**
* Runs storage motor
*
* @param input the voltage to run motor at
*/
public void runStorage(double input) {
public void runStorage(final double input) {
m_storageMotor.set(input);
boolean beam_on = m_beamSensors[0].get();
final boolean beam_on = m_beamSensors[0].get();
if (beam_on) {
System.err.println("Beam on");
} else {
System.err.println("Beam off");
}
}
/* Storage PID Control */
public void runStoragePositionPID(double targetPos, double kP, double kI, double kD, double kIz, double kF, double kmaxOutput, double kminOutput)
{
// 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.setReference(targetPos, ControlType.kPosition);
}
}