Team4388/RiseOfRidgebotics2020
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Add Motion Magic (Aux PID acting up)

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- Aux PID drifting and causing robot to slam into walls (Aux PID works everywhere else)
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keenandbuckley
2020-02-07 21:49:04 -07:00
parent 43d9e8aa99
commit 148ea4e941
4 changed files with 88 additions and 10 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+2 -1
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@@ -16,6 +16,7 @@ import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.commands.DriveStraightAtVelocityPID;
import frc4388.robot.commands.DriveStraightToPositionMM;
import frc4388.robot.commands.DriveStraightToPositionPID;
import frc4388.robot.commands.DriveWithJoystick;
import frc4388.robot.commands.RunIntakeWithTriggers;
@@ -74,7 +75,7 @@ public class RobotContainer {
.whenReleased(new InstantCommand(() -> System.out.print("Gamer"), m_robotDrive));
// resets the yaw of the pigeon
new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
.whenPressed(new InstantCommand(() -> m_robotDrive.resetGyroYaw(), m_robotDrive));
.whenPressed(new DriveStraightToPositionMM(m_robotDrive, 400));
// turn 45 degrees
new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
.whenPressed(new RunCommand(() -> m_robotDrive.runTurningPID(45), m_robotDrive));