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

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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
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src/main/java/frc4388/robot/subsystems/Drive.java
+5 -1
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@@ -318,6 +318,9 @@ public class Drive extends SubsystemBase {
SmartDashboard.putString("Odometry Values Meters", getPose().toString());
SmartDashboard.putNumber("Odometry Heading", getHeading());
SmartDashboard.putNumber("Time Seconds", m_currentTimeSec);
//SmartDashboard.putNumber("Delta Time", m_deltaTime);
} catch (Exception e) {
System.err.println("Error in the Drive Subsystem");
// e.printStackTrace(System.err);
@@ -539,7 +542,8 @@ public class Drive extends SubsystemBase {
*/
public double getTurnRate() {
double deltaYaw = m_currentAngleYaw - m_lastAngleYaw;
return deltaYaw / (m_deltaTime/1000);
double turnRate = 1000 * deltaYaw / m_deltaTime;
return turnRate;
}
/**