Team4388/RiseOfRidgebotics2020
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Merge branch 'master' into covid-shooter-revert

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This commit is contained in:
Nirvan Bhalala
2021-04-22 16:42:19 -06:00
committed by GitHub
parent 2aa1aa8d6c 08963d3ee7
commit 785f984d9c
53 changed files with 484 additions and 48 deletions
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src/main/java/frc4388/robot/commands/drive/DriveStraightAtVelocityPID.java
+1 -1
View File
@@ -29,7 +29,7 @@ public class DriveStraightAtVelocityPID extends CommandBase {
// Called when the command is initially scheduled.
@Override
public void initialize() {
m_targetGyro = m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN);
m_targetGyro = (m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN));
}
// Called every time the scheduler runs while the command is scheduled.
src/main/java/frc4388/robot/commands/drive/GotoCoordinatesRobotRelative.java
+1 -1
View File
@@ -46,7 +46,7 @@ public class GotoCoordinatesRobotRelative extends SequentialCommandGroup {
addCommands( new TurnDegrees(m_drive, m_currentAngle),
new Wait(m_drive, 0, 0),
new DriveStraightToPositionPID(m_drive, m_pneumatics, m_hypotDist),
new TurnDegrees(m_drive, m_endAngle - m_currentAngle));
new TurnDegrees(m_drive, (m_endAngle - m_currentAngle) % 360));
}
public GotoCoordinatesRobotRelative(Drive subsystem, Pneumatics subsystem2, double xTarget, double yTarget) {
src/main/java/frc4388/robot/commands/drive/TurnDegrees.java
+4 -3
View File
@@ -38,6 +38,7 @@ public class TurnDegrees extends CommandBase {
public void initialize() {
m_targetAngleTicksIn = (m_targetAngle / 360) * DriveConstants.TICKS_PER_GYRO_REV;
m_currentYawInTicks = (m_drive.getGyroYaw() / 360) * DriveConstants.TICKS_PER_GYRO_REV;
SmartDashboard.putNumber("Current Yaw Ticks", m_currentYawInTicks);
m_targetAngleTicksOut = m_targetAngleTicksIn + m_currentYawInTicks;
i = 0;
@@ -48,10 +49,10 @@ public class TurnDegrees extends CommandBase {
public void execute() {
m_currentYawInTicks = (m_drive.getGyroYaw() / 360) * DriveConstants.TICKS_PER_GYRO_REV;
m_drive.runTurningPID(m_targetAngleTicksOut);
m_drive.runTurningPID(m_targetAngleTicksIn);
//SmartDashboard.putNumber("Turning Error", Math.abs(m_currentYawInTicks - m_targetAngleTicksOut));
//SmartDashboard.putNumber("Turning Target", m_targetAngleTicksOut);
SmartDashboard.putNumber("Turning Error", Math.abs(m_currentYawInTicks - m_targetAngleTicksOut));
SmartDashboard.putNumber("Turning Target", m_targetAngleTicksOut);
i++;
}