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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/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);
}
/**