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Change PIDs to expect robot to be in Low Gear

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Eventually should be changed to be gear agnostic. Maybe have conversion factor be in drive subsytem and change depending on gear shift.
This commit is contained in:
Keenan D. Buckley
2020-02-25 21:33:12 -07:00
parent 6939bc449d
commit 322e4c7a44
3 changed files with 6 additions and 6 deletions
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src/main/java/frc4388/robot/commands/DrivePositionMPAux.java
+4 -4
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@@ -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;
src/main/java/frc4388/robot/commands/DriveStraightToPositionMM.java
+1 -1
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@@ -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);
}
src/main/java/frc4388/robot/commands/DriveStraightToPositionPID.java
+1 -1
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@@ -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);
}