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Messing with Dead Assist

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This commit is contained in:
Keenan D. Buckley
2020-02-18 19:44:11 -07:00
parent cce4f67726
commit 6cc1f7fb50
1 changed files with 6 additions and 6 deletions
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src/main/java/frc4388/robot/commands/DriveWithJoystickUsingDeadAssistPID.java
+6 -6
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@@ -77,6 +77,7 @@ public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
/* If steer stick has not been used for less than 1 sec */
if (m_currTime - m_deadTimeSteer < m_deadTimeout) {
runDriveWithInput(moveOutput, steerInput);
resetGyroTarget();
}
/* If steer stick has not been used for 1 sec */
else {
@@ -99,7 +100,6 @@ public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
} else {
steerOutput = cosMultiplier*Math.cos(1.571*steer)-(cosMultiplier+deadzone);
}
resetGyroTarget();
m_drive.driveWithInput(move, steerOutput);
System.out.println("Driving With Input");
}
@@ -131,17 +131,17 @@ public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
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/8),
m_currentGyro+(DriveConstants.TICKS_PER_GYRO_REV/8));
}
/**
* set target angle to current angle (prevents buildup of gyro error).
*/
private void resetGyroTarget() {
//m_targetGyro = m_currentGyro;
m_targetGyro = m_drive.m_rightFrontMotor.getSelectedSensorPosition(1)
+ (3 * m_drive.m_rightFrontMotor.getSelectedSensorVelocity(1));
m_targetGyro = m_currentGyro;
m_targetGyro = m_currentGyro
+ (3 * m_drive.m_rightFrontMotor.getSelectedSensorVelocity(1));
}
// Called once the command ends or is interrupted.