Team4388/RiseOfRidgebotics2020
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Tested Motion Magic and commented out unnecessary data prints

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This commit is contained in:
keenandbuckley
2020-02-08 09:27:40 -07:00
parent 148ea4e941
commit 71bd46cc85
2 changed files with 4 additions and 4 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+1 -1
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@@ -75,7 +75,7 @@ public class RobotContainer {
.whenReleased(new InstantCommand(() -> System.out.print("Gamer"), m_robotDrive));
// resets the yaw of the pigeon
new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
.whenPressed(new DriveStraightToPositionMM(m_robotDrive, 400));
.whenPressed(new DriveStraightToPositionMM(m_robotDrive, 72));
// turn 45 degrees
new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
.whenPressed(new RunCommand(() -> m_robotDrive.runTurningPID(45), m_robotDrive));
src/main/java/frc4388/robot/commands/DriveStraightToPositionMM.java
+3 -3
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@@ -44,9 +44,9 @@ public class DriveStraightToPositionMM extends CommandBase {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
System.err.println("| \n Sensor Pos \n" + m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN));
System.err.println("Sensor Error \n" + m_drive.m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_TURN));
System.err.println("Sensor Target \n" + m_drive.m_rightFrontMotor.getClosedLoopTarget(DriveConstants.PID_TURN));
//System.err.println("| \n Sensor Pos \n" + m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN));
//System.err.println("Sensor Error \n" + m_drive.m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_TURN));
//System.err.println("Sensor Target \n" + m_drive.m_rightFrontMotor.getClosedLoopTarget(DriveConstants.PID_TURN));
m_drive.runMotionMagicPID(m_targetPosOut, m_targetGyro);
}