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Tweaks to Deadassist and Work on Motion Magic

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This commit is contained in:
Aarav Shah
2020-02-21 20:46:52 -07:00
parent 9f1aff6c8d
commit 5f989fb21a
6 changed files with 27 additions and 23 deletions
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src/main/java/frc4388/robot/commands/DriveWithJoystickUsingDeadAssistPID.java
+4 -4
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@@ -99,7 +99,7 @@ public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
}
private void runDriveWithInput(double move, double steerInput) {
double cosMultiplier = .45;
double cosMultiplier = .55;
double steerOutput = 0;
double deadzone = .2;
/* Curves the steer output to be similarily gradual */
@@ -119,7 +119,7 @@ public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
}
private void runStoppedTurn(double steer) {
double cosMultiplier = 0.70;
double cosMultiplier = 0.55;
double steerOutput = 0;
double deadzone = .2;
/* Curves the steer output to be similarily gradual */
@@ -145,8 +145,8 @@ public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
private void updateGyroTarget(double steerInput) {
m_targetGyro -= 5 * steerInput * m_deltaTime;
m_targetGyro = MathUtil.clamp( m_targetGyro,
m_currentGyro-(DriveConstants.TICKS_PER_GYRO_REV/4),
m_currentGyro+(DriveConstants.TICKS_PER_GYRO_REV/4));
m_currentGyro-(DriveConstants.TICKS_PER_GYRO_REV/2),
m_currentGyro+(DriveConstants.TICKS_PER_GYRO_REV/2));
}
/**