Team4388/RiseOfRidgebotics2020
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Wrote Java Docs for PID Methods

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aarav18
2020-02-07 17:02:43 -07:00
parent 033af31c96
commit 315ed22703
1 changed files with 18 additions and 4 deletions
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src/main/java/frc4388/robot/subsystems/Drive.java
+18 -4
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@@ -269,7 +269,9 @@ public class Drive extends SubsystemBase {
}
/**
* Add your docs here.
* Initializes the drive train gains kP, kI, kD, and kF
* @param slot Either "Distance PID", "Velocity PID", "Motion Magic PID", or "Turning PID"
* @param gains A gains object which is the gains that are set for the slot
*/
public void setDriveTrainGains(String slot, Gains gains){
/* Distance */
@@ -319,7 +321,11 @@ public class Drive extends SubsystemBase {
public void driveWithInput(double move, double steer){
m_driveTrain.arcadeDrive(move, steer);
}
/**
* Runs a position PID while driving straight (has not been tested)
* @param targetPos The position to drive to in units
* @param targetGyro The angle to drive at in units
*/
public void runDriveStraightPositionPID(double targetPos, double targetGyro) {
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_DISTANCE, DriveConstants.PID_PRIMARY);
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
@@ -330,7 +336,11 @@ public class Drive extends SubsystemBase {
m_driveTrain.feedWatchdog();
}
/**
* Runs velocity PID while driving straight
* @param targetVel The velocity to drive at in units
* @param targetGyro The angle to drive at in units
*/
public void runDriveStraightVelocityPID(double targetVel, double targetGyro) {
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
@@ -341,7 +351,11 @@ public class Drive extends SubsystemBase {
m_driveTrain.feedWatchdog();
}
/**
* Runs motion magic PID while driving straight (has not been tested)
* @param targetPos The position to drive to in units
* @param targetGyro The angle to drive at in units
*/
public void runMotionMagicPID(double targetPos, double targetGyro){
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_MOTION_MAGIC, DriveConstants.PID_PRIMARY);
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);