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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/commands/DrivePositionMPAux.java
+3 -3
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@@ -29,12 +29,12 @@ public class DrivePositionMPAux extends CommandBase {
* Creates a new DrivePositionMPAux.
*
* @param subsystem The drive subsystem
* @param cruiseVel The target velocity for the motors in units
* @param cruiseVel The target velocity for the motors in in/s
* @param rampDist The distance before cruise velocity is reached in inches
* @param rampRate The time to reach the cruise velocity in seconds
* @param targetPos The target position
*/
public DrivePositionMPAux(Drive subsystem, double cruiseVel, double rampDist, float rampRate, double targetPos, double targetGyro) {
public DrivePositionMPAux(Drive subsystem, double cruiseVel, double rampDist, float rampRate, double targetPos) {
// Use addRequirements() here to declare subsystem dependencies.
m_drive = subsystem;
m_cruiseVel = cruiseVel * DriveConstants.TICKS_PER_INCH_LOW / 10;
@@ -86,7 +86,7 @@ public class DrivePositionMPAux extends CommandBase {
@Override
public boolean isFinished() {
if (Math.abs((int)m_drive.m_rightFrontMotor.getSelectedSensorVelocity(DriveConstants.PID_PRIMARY)) < 5 && (m_counter > 5)) {
return true;
//return true;
}
return false;
}