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

Fix Dead assist so it uses the right constants and TurnRate code

Browse Source
This commit is contained in:
Keenan D. Buckley
2020-02-19 19:15:45 -07:00
parent 9c2a897236
commit 11f7f2272e
5 changed files with 10 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/commands/DriveWithJoystickUsingDeadAssistPID.java
+1 -5
View File
@@ -131,11 +131,7 @@ public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
private void resetGyroTarget() {
m_targetGyro = m_currentGyro;
m_targetGyro = m_currentGyro
+ (3 * m_drive.m_rightFrontMotor.getSelectedSensorVelocity(1));
m_targetGyro = MathUtil.clamp( m_targetGyro,
m_currentGyro-(DriveConstants.TICKS_PER_GYRO_REV/8),
m_currentGyro+(DriveConstants.TICKS_PER_GYRO_REV/8));
+ m_drive.getTurnRate();
}
// Called once the command ends or is interrupted.