Team4388/RiseOfRidgebotics2020
1
0
Fork 0
mirror of https://github.com/Team4388/RiseOfRidgebotics2020.git synced 2026-06-09 00:38:00 -06:00
Code Issues Packages Projects Releases Wiki Activity

Fix Storage Subsystem

Browse Source 
- Also improved the Gains object to have two constructors depending on what kind of output limits you want.
This commit is contained in:
Keenan D. Buckley
2020-03-08 12:14:24 -06:00
parent a7558a7511
commit 0b452d3309
5 changed files with 99 additions and 40 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/utility/Gains.java
+25 -1
View File
@@ -27,7 +27,7 @@ public class Gains {
* @param kD The D value.
* @param kF The F value.
* @param kIzone The zone of the I value.
* @param kPeakOutput The peak output setting the motors to run the gains at.
* @param kPeakOutput The peak output setting the motors to run the gains at, in both forward and reverse directions. By default 1.0.
*/
public Gains(double kP, double kI, double kD, double kF, int kIzone, double kPeakOutput)
{
@@ -37,5 +37,29 @@ public class Gains {
m_kF = kF;
m_kIzone = kIzone;
m_kPeakOutput = kPeakOutput;
m_kmaxOutput = m_kPeakOutput;
m_kminOutput = -m_kPeakOutput;
}
/**
* Creates Gains object for PIDs
* @param kP The P value.
* @param kI The I value.
* @param kD The D value.
* @param kF The F value.
* @param kIzone The zone of the I value.
* @param kMinOutput The lowest output setting to run the gains at, usually in the reverse direction. By default -1.0.
* @param kMaxOutput The highest output setting to run the gains at, usually in the forward direction. By default 1.0.
*/
public Gains(double kP, double kI, double kD, double kF, int kIzone, double kMinOutput, double kMaxOutput)
{
m_kP = kP;
m_kI = kI;
m_kD = kD;
m_kF = kF;
m_kIzone = kIzone;
m_kminOutput = kMinOutput;
m_kmaxOutput = kMaxOutput;
m_kPeakOutput = (Math.abs(m_kminOutput) > Math.abs(m_kmaxOutput)) ? Math.abs(m_kminOutput) : Math.abs(m_kmaxOutput);
}
}