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Merge branch 'add-storage' of https://github.com/Team4388/RiseOfRidgebotics2020 into add-storage

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ryan123rudder
2020-02-21 20:42:45 -07:00
parent 629046c032 47b5cdc200
commit 815cc6dcbc
5 changed files with 64 additions and 46 deletions
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src/main/java/frc4388/robot/subsystems/Storage.java
+7 -7
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@@ -36,7 +36,6 @@ public class Storage extends SubsystemBase {
Intake m_intake;
public boolean botReached;
/**
* Creates a new Storage.
@@ -75,16 +74,17 @@ public class Storage extends SubsystemBase {
/* Storage PID Control */
public void runStoragePositionPID(double targetPos){
// Set PID Coefficients
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_kPeakOutput);
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.setReference(targetPos, ControlType.kPosition);
}
public double getEncoderPos(){
return m_encoder.getPosition();
}