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Add Distance PID Command

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Aarav
2020-01-16 20:11:48 -07:00
parent 686e9feb00
commit 6fc414ccb8
3 changed files with 67 additions and 11 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+2 -1
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@@ -15,6 +15,7 @@ import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.commands.DriveToDistancePID;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.LED;
import frc4388.utility.LEDPatterns;
@@ -72,7 +73,7 @@ public class RobotContainer {
/* PID Test Command */
new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
.whileHeld(() -> m_robotDrive.goToTargetPos(), m_robotDrive);
.whenPressed(new DriveToDistancePID(m_robotDrive, 5000));
}
/**