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Created Velocity Control PID and Interrupt Command

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Aarav
2020-01-17 19:44:54 -07:00
parent 4a74baa56b
commit 4d7a03d230
3 changed files with 62 additions and 0 deletions
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src/main/java/frc4388/robot/commands/DriveToDistancePID.java
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@@ -7,6 +7,7 @@
package frc4388.robot.commands;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.subsystems.Drive;
@@ -31,6 +32,8 @@ public class DriveToDistancePID extends CommandBase {
public void initialize() {
m_leftTarget = m_drive.m_leftFrontMotor.getActiveTrajectoryPosition() + m_distance;
m_rightTarget = -(m_drive.m_rightFrontMotor.getActiveTrajectoryPosition() + m_distance);
SmartDashboard.putNumber("Left Target", m_leftTarget);
SmartDashboard.putNumber("Right Target", m_rightTarget);
}
// Called every time the scheduler runs while the command is scheduled.