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Merge branch 'master' into fix-drive-straight-position-pid

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This commit is contained in:
Keenan D. Buckley
2020-02-11 04:35:31 +00:00
committed by GitHub
parent ea632f626f fdc8e37b5b
commit 767c61016f
14 changed files with 688 additions and 37 deletions
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src/main/java/frc4388/robot/subsystems/Drive.java
+19 -1
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@@ -21,6 +21,7 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.PigeonIMU;
import com.ctre.phoenix.sensors.PigeonIMU_StatusFrame;
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
@@ -50,6 +51,8 @@ public class Drive extends SubsystemBase {
public static Gains m_gainsTurning = DriveConstants.DRIVE_TURNING_GAINS;
public static Gains m_gainsMotionMagic = DriveConstants.DRIVE_MOTION_MAGIC_GAINS;
public DoubleSolenoid speedShift;
/**
* Add your docs here.
*/
@@ -62,6 +65,8 @@ public class Drive extends SubsystemBase {
m_pigeon.configFactoryDefault();
resetGyroYaw();
speedShift = new DoubleSolenoid(7,0,1);
/* set back motors as followers */
m_leftBackMotor.follow(m_leftFrontMotor);
m_rightBackMotor.follow(m_rightFrontMotor);
@@ -79,7 +84,6 @@ public class Drive extends SubsystemBase {
m_leftBackMotor.setInverted(InvertType.FollowMaster);
m_rightBackMotor.setInverted(InvertType.FollowMaster);
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
m_rightFrontMotor.config_kF(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kP(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
@@ -244,6 +248,7 @@ public class Drive extends SubsystemBase {
SmartDashboard.putNumber("Right Motor Velocity Raw", m_rightFrontMotor.getSelectedSensorVelocity());
SmartDashboard.putNumber("Left Motor Position Raw", m_leftFrontMotor.getSelectedSensorPosition());
SmartDashboard.putNumber("Right Motor Position Raw", m_rightFrontMotor.getSelectedSensorPosition(0));
SmartDashboard.putNumber("Right Motor Velocity Int Sensor", m_rightFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
SmartDashboard.putNumber("Left Motor Velocity Int Sensor", m_leftFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
@@ -430,4 +435,17 @@ public class Drive extends SubsystemBase {
m_pigeon.setYaw(0);
m_pigeon.setAccumZAngle(0);
}
/**
* Set to high or low gear based on boolean state, true = high, false = low
* @param state Chooses between high or low gear
*/
public void setShiftState(boolean state) {
if (state == true) {
speedShift.set(DoubleSolenoid.Value.kForward);
}
if (state == false) {
speedShift.set(DoubleSolenoid.Value.kReverse);
}
}
}