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fix keenans dumb merge

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ryan123rudder
2020-02-10 18:02:37 -07:00
parent 57cbc028b9
commit 6fbbca937c
6 changed files with 4 additions and 196 deletions
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src/main/java/frc4388/robot/subsystems/Drive.java
-17
View File
@@ -318,23 +318,6 @@ public class Drive extends SubsystemBase {
}
}
/**
* Add your docs here.
*/
public void setDriveTrainGains(){
m_leftFrontMotor.selectProfileSlot(DriveConstants.DRIVE_SLOT_IDX, DriveConstants.DRIVE_PID_LOOP_IDX);
m_leftFrontMotor.config_kF(DriveConstants.DRIVE_SLOT_IDX, m_driveGains.kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftFrontMotor.config_kP(DriveConstants.DRIVE_SLOT_IDX, m_driveGains.kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftFrontMotor.config_kI(DriveConstants.DRIVE_SLOT_IDX, m_driveGains.kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftFrontMotor.config_kD(DriveConstants.DRIVE_SLOT_IDX, m_driveGains.kD, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.selectProfileSlot(DriveConstants.DRIVE_SLOT_IDX, DriveConstants.DRIVE_PID_LOOP_IDX);
m_rightFrontMotor.config_kF(DriveConstants.DRIVE_SLOT_IDX, m_driveGains.kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kP(DriveConstants.DRIVE_SLOT_IDX, m_driveGains.kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kI(DriveConstants.DRIVE_SLOT_IDX, m_driveGains.kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kD(DriveConstants.DRIVE_SLOT_IDX, m_driveGains.kD, DriveConstants.DRIVE_TIMEOUT_MS);
}
/**
* Add your docs here.
*/
src/main/java/frc4388/robot/subsystems/Shooter.java
+4 -4
View File
@@ -64,10 +64,10 @@ public class Shooter extends SubsystemBase {
*/
public void setShooterGains() {
m_shooterFalcon.selectProfileSlot(ShooterConstants.SHOOTER_SLOT_IDX, ShooterConstants.SHOOTER_PID_LOOP_IDX);
m_shooterFalcon.config_kF(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.kF, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalcon.config_kP(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.kP, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalcon.config_kI(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.kI, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalcon.config_kD(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.kD, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalcon.config_kF(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.m_kF, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalcon.config_kP(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.m_kP, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalcon.config_kI(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.m_kI, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalcon.config_kD(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.m_kD, ShooterConstants.SHOOTER_TIMEOUT_MS);
}
/**
* Runs drum shooter velocity PID.