Team4388/RiseOfRidgebotics2020
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Merge branch 'master' into auto-programming

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This commit is contained in:
Keenan D. Buckley
2020-03-13 01:22:41 +00:00
committed by GitHub
parent 3ec37422c6 27b9f02f37
commit 352d6c2891
14 changed files with 1027 additions and 48 deletions
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src/main/java/frc4388/robot/commands/drive/DriveStraightToPositionMM.java
+2 -2
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@@ -33,9 +33,9 @@ public class DriveStraightToPositionMM extends CommandBase {
m_pneumatics = subsystem2;
try {
if (m_pneumatics.m_isSpeedShiftHigh) {
m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_HIGH * 2;
m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_HIGH;
} else {
m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_LOW * 2;
m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_LOW;
}
} catch (Exception e) {
System.err.println("Error In Motion Magic Switch Gains.");
src/main/java/frc4388/robot/commands/drive/DriveStraightToPositionPID.java
+2 -2
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@@ -31,9 +31,9 @@ public class DriveStraightToPositionPID extends CommandBase {
m_pneumatics = subsystem2;
try {
if (m_pneumatics.m_isSpeedShiftHigh) {
m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_HIGH * 2;
m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_HIGH;
} else {
m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_LOW * 2;
m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_LOW;
}
} catch (Exception e) {
System.err.println("Error In Motion Magic Switch Gains.");
src/main/java/frc4388/robot/commands/shooter/ShooterVelocityControlPID.java
+12 -11
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@@ -34,7 +34,18 @@ public class ShooterVelocityControlPID extends CommandBase {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
m_shooter.runDrumShooterVelocityPID(m_shooter.addFireVel());
//Tells whether the target velocity has been reached
m_actualVel = m_shooter.m_shooterFalcon.getSelectedSensorPosition();
m_targetVel = m_shooter.addFireVel();
double error = m_actualVel - m_targetVel;
if (Math.abs(error) < ShooterConstants.DRUM_VELOCITY_BOUND){
m_shooter.m_isDrumReady = true;
m_shooter.runDrumShooterVelocityPID(m_targetVel);
}
else{
m_shooter.m_isDrumReady = false;
m_shooter.runDrumShooterVelocityPID(m_targetVel);
}
}
// Called once the command ends or is interrupted.
@@ -45,16 +56,6 @@ public class ShooterVelocityControlPID extends CommandBase {
// Returns true when the command should end.
@Override
public boolean isFinished() {
//Tells whether the target velocity has been reached
double upperBound = m_targetVel + ShooterConstants.DRUM_VELOCITY_BOUND;
double lowerBound = m_targetVel - ShooterConstants.DRUM_VELOCITY_BOUND;
if (m_actualVel < upperBound && m_actualVel > lowerBound){
m_shooter.m_isDrumReady = true;
}
else{
m_shooter.m_isDrumReady = false;
}
return false;
}
}
src/main/java/frc4388/robot/commands/shooter/TrackTarget.java
+1
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@@ -110,6 +110,7 @@ public class TrackTarget extends CommandBase {
m_shooter.m_fireVel = fireVel;
m_shooterHood.m_fireAngle = fireAngle;// + m_shooter.shooterTrims.m_hoodTrim;
m_shooterAim.m_targetDistance = distance;
}
}