Team4388/RiseOfRidgebotics2020
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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/subsystems/Drive.java
+8 -10
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@@ -179,6 +179,14 @@ public class Drive extends SubsystemBase {
m_driveTrain.arcadeDrive(move, steer);
}
public void gotoPositionPID(WPI_TalonFX talon, double targetPos) {
talon.set(TalonFXControlMode.Position, targetPos);
}
public void gotoVelocityPID(WPI_TalonFX talon, double targetVel) {
talon.set(TalonFXControlMode.Velocity, targetVel);
}
public double getGyroYaw() {
double[] ypr = new double[3];
m_pigeon.getYawPitchRoll(ypr);
@@ -201,14 +209,4 @@ public class Drive extends SubsystemBase {
m_pigeon.setYaw(0);
m_pigeon.setAccumZAngle(0);
}
// Motion Magic Testing
public void goToTargetPos()
{
//double targetPos = XboxController.RIGHT_Y_AXIS * DriveConstants.ENCODER_TICKS_PER_REV * 10.0;
double targetPos = 1000;
m_leftFrontMotor.set(TalonFXControlMode.Velocity, targetPos);
m_rightFrontMotor.set(TalonFXControlMode.Velocity, -targetPos);
}
}