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Fix watchdog feeds and steer output curving

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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
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src/main/java/frc4388/robot/subsystems/Drive.java
+5 -5
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@@ -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);