Team4388/RiseOfRidgebotics2020
1
0
Fork 0
mirror of https://github.com/Team4388/RiseOfRidgebotics2020.git synced 2026-06-09 08:48:01 -06:00
Code Issues Packages Projects Releases Wiki Activity

Fix watchdog feeds and steer output curving

Browse Source
This commit is contained in:
Keenan D. Buckley
2020-02-25 19:15:15 -07:00
parent b741417e0b
commit 7339658077
2 changed files with 7 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/commands/DriveWithJoystick.java
+2 -2
View File
@@ -51,9 +51,9 @@ public class DriveWithJoystick extends CommandBase {
double cosMultiplier = .55;
double deadzone = .2;
if (steerInput > 0){
steerOutput = -cosMultiplier*Math.cos(1.571*steerInput)+(cosMultiplier+deadzone);
steerOutput = -(cosMultiplier - deadzone) * Math.cos(1.571*steerInput) + cosMultiplier;
} else if (steerInput < 0) {
steerOutput = cosMultiplier*Math.cos(1.571*steerInput)-(cosMultiplier+deadzone);
steerOutput = (cosMultiplier - deadzone) * Math.cos(1.571*steerInput) - cosMultiplier;
} else {
steerOutput = 0;
}
src/main/java/frc4388/robot/subsystems/Drive.java
+5 -5
View File
@@ -119,8 +119,8 @@ public class Drive extends SubsystemBase {
m_leftFrontMotor.setInverted(false);
m_rightFrontMotor.setInverted(false);
//m_driveTrain.setRightSideInverted(false);
//m_leftBackMotor.setInverted(InvertType.FollowMaster);
//m_rightBackMotor.setInverted(InvertType.FollowMaster);
m_leftBackMotor.setInverted(InvertType.FollowMaster);
m_rightBackMotor.setInverted(InvertType.FollowMaster);
float rampRate = 0.1f;
m_rightFrontMotor.configOpenloopRamp(rampRate, DriveConstants.DRIVE_TIMEOUT_MS);
@@ -128,9 +128,9 @@ public class Drive extends SubsystemBase {
m_leftFrontMotor.configOpenloopRamp(rampRate, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftBackMotor.configOpenloopRamp(rampRate, DriveConstants.DRIVE_TIMEOUT_MS);
SupplyCurrentLimitConfiguration c = new SupplyCurrentLimitConfiguration(true, 20, 25, 0.01);
m_rightFrontMotor.configSupplyCurrentLimit(c);
m_leftFrontMotor.configSupplyCurrentLimit(c);
//SupplyCurrentLimitConfiguration c = new SupplyCurrentLimitConfiguration(true, 40, 35, 0.01);
//m_rightFrontMotor.configSupplyCurrentLimit(c);
//m_leftFrontMotor.configSupplyCurrentLimit(c);
setDriveTrainNeutralMode(NeutralMode.Coast);