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Uncommented Velocity PID

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aarav18
2020-01-24 17:20:15 -07:00
parent 7008ceb453
commit 0da2e35400
2 changed files with 4 additions and 4 deletions
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src/main/java/frc4388/robot/commands/DriveAtVelocityPID.java
+3 -3
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@@ -40,9 +40,9 @@ public class DriveAtVelocityPID extends CommandBase {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
//m_drive.runVelocityPID(m_drive.m_rightFrontMotor, m_rightTarget);
//m_drive.runVelocityPID(m_drive.m_leftFrontMotor, m_leftTarget);
//m_drive.m_leftFrontMotor.follow(m_drive.m_rightFrontMotor, FollowerType.PercentOutput);
m_drive.runVelocityPID(m_rightTarget);
m_drive.runVelocityPID(m_leftTarget);
m_drive.m_leftFrontMotor.follow(m_drive.m_rightFrontMotor, FollowerType.PercentOutput);
}
// Called once the command ends or is interrupted.
src/main/java/frc4388/robot/subsystems/Drive.java
+1 -1
View File
@@ -311,7 +311,7 @@ public class Drive extends SubsystemBase {
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
m_rightFrontMotor.set(TalonFXControlMode.Velocity, 0, DemandType.AuxPID, targetAngle);
//m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
m_rightFrontMotor.set(DemandType.AuxPID, 0);
//m_rightFrontMotor.set(DemandType.AuxPID, 0);
}
public double getGyroYaw() {