Team4388/RiseOfRidgebotics2020
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aarav18
2020-02-07 17:50:23 -07:00
parent 315ed22703
commit 479a7b9359
5 changed files with 91 additions and 58 deletions
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src/main/java/frc4388/robot/commands/DriveStraightAtVelocityPID.java
+4 -2
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@@ -16,7 +16,9 @@ public class DriveStraightAtVelocityPID extends CommandBase {
double m_targetVel;
double m_targetGyro;
/**
* Creates a new DriveVelocityControlPID.
* Creates a new DriveStraightAtVelocityPID.
* @param subsystem The drive subsystem
* @param targetVel The target velocity for the motors in units
*/
public DriveStraightAtVelocityPID(Drive subsystem, double targetVel) {
// Use addRequirements() here to declare subsystem dependencies.
@@ -34,7 +36,7 @@ public class DriveStraightAtVelocityPID extends CommandBase {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
System.err.println(m_drive.m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_TURN));
//System.err.println(m_drive.m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_TURN));
m_drive.runDriveStraightVelocityPID(-m_targetVel, m_targetGyro);
}