Team4388/RiseOfRidgebotics2020
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This commit is contained in:
Aarav Shah
2020-02-18 19:28:05 -07:00
parent 14793f3cef
commit 24e0d07f3a
1 changed files with 9 additions and 0 deletions
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src/main/java/frc4388/robot/subsystems/Drive.java
+9
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@@ -66,6 +66,8 @@ public class Drive extends SubsystemBase {
public DoubleSolenoid m_speedShift;
public DoubleSolenoid m_coolFalcon;
public int m_currentTimeSec = (int)(System.currentTimeMillis() * 1000);
public long m_lastTime, m_deltaTime; //in milliseconds
public double m_lastAngleYaw, m_currentAngleYaw, m_kinematicsTargetAngle;
@@ -269,6 +271,13 @@ public class Drive extends SubsystemBase {
@Override
public void periodic() {
if (m_currentTimeSec % 10 == 0) {
coolFalcon(true);
} else if ((m_currentTimeSec - 2) % 10 == 0) {
coolFalcon(false);
}
m_deltaTime = System.currentTimeMillis() - m_lastTime;
m_lastTime = System.currentTimeMillis();
m_lastAngleYaw = m_currentAngleYaw;