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GotoCoordinate Works, Trying to Implement TurnAngle

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This commit is contained in:
Aarav Shah
2020-02-28 21:25:09 -07:00
parent a70983a4c2
commit 237eaeb7ef
3 changed files with 13 additions and 11 deletions
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src/main/java/frc4388/robot/subsystems/Drive.java
+2 -2
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@@ -727,8 +727,8 @@ public class Drive extends SubsystemBase {
//SmartDashboard.putNumber("Left Back Output", m_leftBackMotor.get());
//SmartDashboard.putNumber("Right Back Output", m_rightBackMotor.get());
double leftRPM = m_leftFrontMotor.getSensorCollection().getIntegratedSensorVelocity();
double rightRPM = m_rightFrontMotor.getSensorCollection().getIntegratedSensorVelocity();
double leftRPM = ticksToInches(m_leftFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
double rightRPM = ticksToInches(m_rightFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
SmartDashboard.putNumber("Left Motor RPM", leftRPM);
SmartDashboard.putNumber("Right Motor RPM", rightRPM);