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Merge branch 'master' into add-storage

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This commit is contained in:
ryan123rudder
2020-02-21 20:41:10 -07:00
committed by GitHub
parent 427ba060da 38a6ab3302
commit 47b5cdc200
5 changed files with 66 additions and 47 deletions
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src/main/java/frc4388/robot/subsystems/Storage.java
+9 -8
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@@ -35,6 +35,7 @@ public class Storage extends SubsystemBase {
Intake m_intake;
/**
* Creates a new Storage.
*/
@@ -74,19 +75,19 @@ public class Storage extends SubsystemBase {
public void runStoragePositionPID(double targetPos)
{
// Set PID Coefficients
m_storagePIDController.setP(storageGains.m_kP);
m_storagePIDController.setI(storageGains.m_kI);
m_storagePIDController.setD(storageGains.m_kD);
m_storagePIDController.setIZone(storageGains.m_kIzone);
m_storagePIDController.setFF(storageGains.m_kF);
m_storagePIDController.setOutputRange(StorageConstants.STORAGE_MIN_OUTPUT, storageGains.m_kPeakOutput);
m_storagePIDController.setP(m_storageGains.m_kP);
m_storagePIDController.setI(m_storageGains.m_kI);
m_storagePIDController.setD(m_storageGains.m_kD);
m_storagePIDController.setIZone(m_storageGains.m_kIzone);
m_storagePIDController.setFF(m_storageGains.m_kF);
m_storagePIDController.setOutputRange(StorageConstants.storkminOutput, m_storageGains.m_kmaxOutput);
m_storagePIDController.setReference(targetPos, ControlType.kPosition);
}
public void getEncoderPos()
public double getEncoderPos()
{
m_encoder.getPosition();
return m_encoder.getPosition();
}
/**