Team4388/RiseOfRidgebotics2020
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ryan123rudder
2020-02-21 20:51:09 -07:00
parent 815cc6dcbc
commit 80dfa95f79
1 changed files with 6 additions and 7 deletions
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src/main/java/frc4388/robot/subsystems/Storage.java
+6 -7
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@@ -64,7 +64,6 @@ public class Storage extends SubsystemBase {
public void runStorage(final double input) {
m_storageMotor.set(input);
final boolean beam_on = m_beamSensors[0].get();
}
public void resetEncoder(){
@@ -74,12 +73,12 @@ public class Storage extends SubsystemBase {
/* Storage PID Control */
public void runStoragePositionPID(double targetPos){
// Set PID Coefficients
m_storagePIDController.setP(m_storageGains.m_kP);
m_storagePIDController.setI(m_storageGains.m_kI);
m_storagePIDController.setD(m_storageGains.m_kD);
m_storagePIDController.setIZone(m_storageGains.m_kIzone);
m_storagePIDController.setFF(m_storageGains.m_kF);
m_storagePIDController.setOutputRange(StorageConstants.storkminOutput, m_storageGains.m_kmaxOutput);
m_storagePIDController.setP(storageGains.m_kP);
m_storagePIDController.setI(storageGains.m_kI);
m_storagePIDController.setD(storageGains.m_kD);
m_storagePIDController.setIZone(storageGains.m_kIzone);
m_storagePIDController.setFF(storageGains.m_kF);
m_storagePIDController.setOutputRange(StorageConstants.STORAGE_MIN_OUTPUT, storageGains.m_kmaxOutput);
m_storagePIDController.setReference(targetPos, ControlType.kPosition);
}