Team4388/RiseOfRidgebotics2020
1
0
Fork 0
mirror of https://github.com/Team4388/RiseOfRidgebotics2020.git synced 2026-06-09 00:38:00 -06:00
Code Issues Packages Projects Releases Wiki Activity

Add Motion Magic Aux PID

Browse Source
This commit is contained in:
Keenan D. Buckley
2020-02-03 17:31:37 -07:00
parent a8a0f60479
commit 5c7895d2a4
1 changed files with 2 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/subsystems/Drive.java
+2 -3
View File
@@ -340,12 +340,11 @@ public class Drive extends SubsystemBase {
m_driveTrain.feedWatchdog();
}
public void runMotionMagicPID(double targetPos){
public void runMotionMagicPID(double targetPos, double targetGyro){
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_MOTION_MAGIC, DriveConstants.PID_PRIMARY);
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
m_rightFrontMotor.set(TalonFXControlMode.MotionMagic, targetPos);
m_rightFrontMotor.set(TalonFXControlMode.MotionMagic, targetPos, DemandType.AuxPID, targetGyro);
m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
m_driveTrain.feedWatchdog();
}