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Took out straight from methods

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This commit is contained in:
Aarav Shah
2020-02-13 17:51:54 -07:00
parent 110f18f569
commit 572dd7c730
4 changed files with 8 additions and 8 deletions
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src/main/java/frc4388/robot/commands/DriveStraightAtVelocityPID.java
+1 -1
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@@ -37,7 +37,7 @@ public class DriveStraightAtVelocityPID extends CommandBase {
@Override
public void execute() {
//System.err.println(m_drive.m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_TURN));
m_drive.runDriveStraightVelocityPID(-m_targetVel, m_targetGyro);
m_drive.runDriveVelocityPID(-m_targetVel, m_targetGyro);
}
// Called once the command ends or is interrupted.
src/main/java/frc4388/robot/commands/DriveStraightToPositionPID.java
+1 -1
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@@ -47,7 +47,7 @@ public class DriveStraightToPositionPID extends CommandBase {
//System.err.println("| \n Sensor Pos \n" + m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_PRIMARY));
//System.err.println("Sensor Error \n" + m_drive.m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_PRIMARY));
//System.err.println("Sensor Target \n" + m_drive.m_rightFrontMotor.getClosedLoopTarget(DriveConstants.PID_PRIMARY));
m_drive.runDriveStraightPositionPID(m_targetPosOut, m_targetGyro);
m_drive.runDrivePositionPID(m_targetPosOut, m_targetGyro);
}
// Called once the command ends or is interrupted.
src/main/java/frc4388/robot/commands/DriveWithJoystickUsingDeadAssistPID.java
+1 -1
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@@ -96,7 +96,7 @@ public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
}
/* If the move stick is not being used */
else {
m_drive.runDriveStraightVelocityPID(0, m_targetGyro);
m_drive.runDriveVelocityPID(0, m_targetGyro);
isAuxPIDEnabled = true;
}
}
src/main/java/frc4388/robot/subsystems/Drive.java
+5 -5
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@@ -309,12 +309,12 @@ public class Drive extends SubsystemBase {
}
/**
* Runs position PID while driving straight.
* Runs position PID.
* Position is absolute and displacement should be handled on the command side.
* @param targetPos The position to drive to in units
* @param targetGyro The angle to drive at in units
*/
public void runDriveStraightPositionPID(double targetPos, double targetGyro) {
public void runDrivePositionPID(double targetPos, double targetGyro) {
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_DISTANCE, DriveConstants.PID_PRIMARY);
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
@@ -325,12 +325,12 @@ public class Drive extends SubsystemBase {
}
/**
* Runs velocity PID while driving straight
* Runs velocity PID
*
* @param targetVel The velocity to drive at in units
* @param targetGyro The angle to drive at in units
*/
public void runDriveStraightVelocityPID(double targetVel, double targetGyro) {
public void runDriveVelocityPID(double targetVel, double targetGyro) {
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
m_rightFrontMotor.set(TalonFXControlMode.Velocity, targetVel, DemandType.AuxPID, targetGyro);
@@ -362,7 +362,7 @@ public class Drive extends SubsystemBase {
public void runTurningPID(double targetAngle) {
double targetGyro = (targetAngle / 360) * DriveConstants.TICKS_PER_GYRO_REV;
runDriveStraightVelocityPID(0, targetGyro);
runDriveVelocityPID(0, targetGyro);
}
/**