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added 80% output only on high gear the right way

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This commit is contained in:
Aarav Shah
2020-02-29 13:24:22 -07:00
parent 7e479e91a5
commit 7859fa3318
1 changed files with 25 additions and 16 deletions
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src/main/java/frc4388/robot/commands/DriveWithJoystick.java
+25 -16
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@@ -53,6 +53,13 @@ public class DriveWithJoystick extends CommandBase {
double cosMultiplier = 1.0;
double deadzone = .1;
if (m_pneumatics.m_isSpeedShiftHigh) {
cosMultiplier = 0.8;
} else {
cosMultiplier = 1.0;
}
if (steerInput > 0){
steerOutput = -(cosMultiplier - deadzone) * Math.cos(1.571*steerInput) + cosMultiplier;
} else if (steerInput < 0) {
@@ -60,29 +67,31 @@ public class DriveWithJoystick extends CommandBase {
} else {
steerOutput = 0;
}
/*
double outputLimit = 0.8;
boolean isMoveOutputLimited = false;
boolean isSteerOutputLimited = true;
boolean isSteerOutputLimited = false;
if (m_pneumatics.m_isSpeedShiftHigh) {
if (isMoveOutputLimited) {
if (moveOutput > outputLimit) {
moveOutput = outputLimit;
} else if(moveOutput < -outputLimit) {
moveOutput = -outputLimit;
if (m_pneumatics.m_isSpeedShiftHigh) {
if (isMoveOutputLimited) {
if (moveOutput > outputLimit) {
moveOutput = outputLimit;
} else if(moveOutput < -outputLimit) {
moveOutput = -outputLimit;
}
}
}
if (isSteerOutputLimited) {
if (steerOutput > outputLimit) {
steerOutput = outputLimit;
} else if(steerOutput < -outputLimit) {
steerOutput = -outputLimit;
if (isSteerOutputLimited) {
if (steerOutput > outputLimit) {
steerOutput = outputLimit;
} else if(steerOutput < -outputLimit) {
steerOutput = -outputLimit;
}
}
}
}
}
*/
m_drive.driveWithInput(moveOutput, steerOutput);
}