Team4388/RiseOfRidgebotics2020
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Merge branch 'add-ramsete-controller-and-trajectories' of https://github.com/Team4388/RiseOfRidgebotics2020 into add-ramsete-controller-and-trajectories

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This commit is contained in:
Keenan D. Buckley
2020-02-18 17:29:38 -07:00
parent c5011b72d7 6f8e8f8b8f
commit 45db7a32d7
2 changed files with 11 additions and 2 deletions
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src/main/java/frc4388/robot/subsystems/Drive.java
+10 -1
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@@ -49,6 +49,10 @@ public class Drive extends SubsystemBase {
public WPI_TalonFX m_rightBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_RIGHT_BACK_CAN_ID);
public static PigeonIMU m_pigeon = new PigeonIMU(DriveConstants.PIGEON_ID);
public double m_rightFrontMotorPos;
public double m_rightFrontMotorVel;
public DifferentialDrive m_driveTrain = new DifferentialDrive(m_leftFrontMotor, m_rightFrontMotor);
SendableChooser<Gains> m_chooser = new SendableChooser<Gains>();
@@ -265,6 +269,11 @@ public class Drive extends SubsystemBase {
m_lastTime = System.currentTimeMillis();
m_lastAngleYaw = m_currentAngleYaw;
m_currentAngleYaw = getGyroYaw();
m_rightFrontMotorPos = m_rightFrontMotor.getSelectedSensorPosition();
m_rightFrontMotorVel = m_rightFrontMotor.getSelectedSensorVelocity();
try {
SmartDashboard.putNumber("Pigeon Yaw", getGyroYaw());
@@ -459,7 +468,7 @@ public class Drive extends SubsystemBase {
m_pigeon.getYawPitchRoll(ypr);
return ypr[0];
}
}
/**
* Returns the current pitch of the pigeon