From 322e4c7a44e05d2f515f554ae8ac4947ef6a6b0f Mon Sep 17 00:00:00 2001 From: "Keenan D. Buckley" Date: Tue, 25 Feb 2020 21:33:12 -0700 Subject: [PATCH] Change PIDs to expect robot to be in Low Gear Eventually should be changed to be gear agnostic. Maybe have conversion factor be in drive subsytem and change depending on gear shift. --- .../java/frc4388/robot/commands/DrivePositionMPAux.java | 8 ++++---- .../frc4388/robot/commands/DriveStraightToPositionMM.java | 2 +- .../robot/commands/DriveStraightToPositionPID.java | 2 +- 3 files changed, 6 insertions(+), 6 deletions(-) diff --git a/src/main/java/frc4388/robot/commands/DrivePositionMPAux.java b/src/main/java/frc4388/robot/commands/DrivePositionMPAux.java index 364846a..6883468 100644 --- a/src/main/java/frc4388/robot/commands/DrivePositionMPAux.java +++ b/src/main/java/frc4388/robot/commands/DrivePositionMPAux.java @@ -36,10 +36,10 @@ public class DrivePositionMPAux extends CommandBase { public DrivePositionMPAux(Drive subsystem, double cruiseVel, double rampDist, float rampRate, double targetPos, double targetGyro) { // Use addRequirements() here to declare subsystem dependencies. m_drive = subsystem; - m_cruiseVel = cruiseVel * DriveConstants.TICKS_PER_INCH / 10; - m_rampDist = rampDist * DriveConstants.TICKS_PER_INCH; + m_cruiseVel = cruiseVel * DriveConstants.TICKS_PER_INCH_LOW / 10; + m_rampDist = rampDist * DriveConstants.TICKS_PER_INCH_LOW; m_rampRate = (long) rampRate * 1000; - m_targetPos = targetPos * DriveConstants.TICKS_PER_INCH; + m_targetPos = targetPos * DriveConstants.TICKS_PER_INCH_LOW; //m_targetGyro = targetGyro * DriveConstants.TICKS_PER_GYRO_REV / 360; m_targetGyro = m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN); addRequirements(m_drive); @@ -82,7 +82,7 @@ public class DrivePositionMPAux extends CommandBase { // Returns true when the command should end. @Override public boolean isFinished() { - if (m_currentPos - m_targetPos <= 0.5f * DriveConstants.TICKS_PER_INCH) { + if (m_currentPos - m_targetPos <= 0.5f * DriveConstants.TICKS_PER_INCH_LOW) { return true; } return false; diff --git a/src/main/java/frc4388/robot/commands/DriveStraightToPositionMM.java b/src/main/java/frc4388/robot/commands/DriveStraightToPositionMM.java index 5eba4a1..c56a36b 100644 --- a/src/main/java/frc4388/robot/commands/DriveStraightToPositionMM.java +++ b/src/main/java/frc4388/robot/commands/DriveStraightToPositionMM.java @@ -28,7 +28,7 @@ public class DriveStraightToPositionMM extends CommandBase { public DriveStraightToPositionMM(Drive subsystem, double targetPos) { // Use addRequirements() here to declare subsystem dependencies. m_drive = subsystem; - m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_HIGH; + m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_LOW; addRequirements(m_drive); //SmartDashboard.putNumber("Distance Target Inches", targetPos); } diff --git a/src/main/java/frc4388/robot/commands/DriveStraightToPositionPID.java b/src/main/java/frc4388/robot/commands/DriveStraightToPositionPID.java index 3b73c1b..949a4bf 100644 --- a/src/main/java/frc4388/robot/commands/DriveStraightToPositionPID.java +++ b/src/main/java/frc4388/robot/commands/DriveStraightToPositionPID.java @@ -27,7 +27,7 @@ public class DriveStraightToPositionPID extends CommandBase { public DriveStraightToPositionPID(Drive subsystem, double targetPos) { // Use addRequirements() here to declare subsystem dependencies. m_drive = subsystem; - m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_HIGH; + m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_LOW; addRequirements(m_drive); //SmartDashboard.putNumber("Distance Target Inches", targetPos); }