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Simplify Periodic to make it easier to read

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This commit is contained in:
Keenan D. Buckley
2020-02-26 08:41:10 -07:00
parent 553aa6ad94
commit 2756df8e1b
1 changed files with 12 additions and 3 deletions
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src/main/java/frc4388/robot/subsystems/Drive.java
+12 -3
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@@ -273,14 +273,26 @@ public class Drive extends SubsystemBase {
@Override
public void periodic() {
updateTime();
updateAngles();
updatePosition();
runFalconCooling();
updateSmartDashboard();
}
public void updateTime() {
m_lastTimeMs = m_currentTimeMs;
m_currentTimeMs = System.currentTimeMillis();
m_currentTimeSec = m_currentTimeMs / 1000;
m_deltaTimeMs = m_currentTimeMs - m_lastTimeMs;
}
public void updateAngles() {
m_lastAngleYaw = m_currentAngleYaw;
m_currentAngleYaw = getGyroYaw();
}
public void updatePosition() {
m_rightFrontMotorPos = m_rightFrontMotor.getSelectedSensorPosition();
m_rightFrontMotorVel = m_rightFrontMotor.getSelectedSensorVelocity();
@@ -295,9 +307,6 @@ public class Drive extends SubsystemBase {
m_odometry.update(Rotation2d.fromDegrees( getHeading()),
getDistanceInches(m_leftFrontMotor),
-getDistanceInches(m_rightFrontMotor));
runFalconCooling();
updateSmartDashboard();
}
/**