Team4388/RiseOfRidgebotics2020
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Work on Broken PIDs

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This commit is contained in:
Aarav Shah
2020-02-26 20:29:01 -07:00
parent afaae3ca1d
commit 3a3d10a382
7 changed files with 31 additions and 29 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+5 -3
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@@ -27,6 +27,7 @@ import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.commands.DrivePositionMPAux;
import frc4388.robot.commands.DriveStraightAtVelocityPID;
import frc4388.robot.commands.DriveWithJoystick;
import frc4388.robot.commands.RunClimberWithTriggers;
import frc4388.robot.commands.RunExtenderOutIn;
@@ -39,6 +40,7 @@ import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.Climber;
import frc4388.robot.commands.RunLevelerWithJoystick;
import frc4388.robot.commands.TrackTarget;
import frc4388.robot.commands.TurnDegrees;
import frc4388.robot.commands.storageOutake;
import frc4388.robot.subsystems.Camera;
import frc4388.robot.subsystems.Leveler;
@@ -109,11 +111,11 @@ public class RobotContainer {
/* Test Buttons */
// A driver test button
new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
.whenPressed(new InstantCommand());
.whenPressed(new TurnDegrees(90, m_robotDrive));
// B driver test button
new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
.whenPressed(new InstantCommand());
.whenPressed(new DriveStraightAtVelocityPID(m_robotDrive, 6000));
// Y driver test button
new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
@@ -183,7 +185,7 @@ public class RobotContainer {
//return ramseteCommand.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
// return new InstantCommand();
return new DrivePositionMPAux(m_robotDrive, 500.0, 12.0, 2, 60.0, 0.0);
return new DrivePositionMPAux(m_robotDrive, 12.0, 12.0, 2, 100.0);
}
TrajectoryConfig getTrajectoryConfig() {