Team4388/RiseOfRidgebotics2020
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Made Drive WIth Hoytstjcj sdefautl fcommd

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This commit is contained in:
Aarav Shah
2020-03-02 17:34:10 -07:00
parent 85e0e798a2
commit 8c23043afb
4 changed files with 9 additions and 8 deletions
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src/main/java/frc4388/robot/Constants.java
+2 -2
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@@ -42,8 +42,8 @@ public final class Constants {
public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG =
new SupplyCurrentLimitConfiguration(false, 60, 40, 2);
public static final int CLOSED_LOOP_TIME_MS = 1; // Higher numbers mean slower control loops
public static final double COS_MULTIPLIER_LOW_DRIVE_STRAIGHT = 0.7;
public static final double COS_MULTIPLIER_HIGH_DRIVE_STRAIGHT = 0.7;
public static final double COS_MULTIPLIER_LOW = 1.0;
public static final double COS_MULTIPLIER_HIGH = 0.8;
/* Drive Train Characteristics */
public static final double MOTOR_ROT_PER_WHEEL_ROT_HIGH = 5.13;
src/main/java/frc4388/robot/RobotContainer.java
+1 -1
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@@ -127,7 +127,7 @@ public class RobotContainer {
/* Default Commands */
// drives the robot with a two-axis input from the driver controller
m_robotDrive.setDefaultCommand(new DriveWithJoystickDriveStraight(m_robotDrive, getDriverController()));
m_robotDrive.setDefaultCommand(new DriveWithJoystick(m_robotDrive, m_robotPneumatics, getDriverController()));
//m_robotDrive.setDefaultCommand(new DriveWithJoystickUsingDeadAssistPID(m_robotDrive, m_robotPneumatics, getDriverController()));
// drives intake with input from triggers on the opperator controller
src/main/java/frc4388/robot/commands/DriveWithJoystick.java
+4 -3
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@@ -9,6 +9,7 @@ package frc4388.robot.commands;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.Constants.DriveConstants;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.Pneumatics;
import frc4388.utility.controller.IHandController;
@@ -52,13 +53,13 @@ public class DriveWithJoystick extends CommandBase {
moveOutput = Math.cos(1.571*moveInput)-1;
}
double cosMultiplier = 1.0;
double cosMultiplier;
double deadzone = .1;
if (m_pneumatics.m_isSpeedShiftHigh) {
cosMultiplier = 0.8;
cosMultiplier = DriveConstants.COS_MULTIPLIER_HIGH;
} else {
cosMultiplier = 1.0;
cosMultiplier = DriveConstants.COS_MULTIPLIER_LOW;
}
if (steerInput > 0){
src/main/java/frc4388/robot/commands/DriveWithJoystickDriveStraight.java
+2 -2
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@@ -97,9 +97,9 @@ public class DriveWithJoystickDriveStraight extends CommandBase {
double deadzone = .1;
if (m_pneumatics.m_isSpeedShiftHigh) {
cosMultiplier = DriveConstants.COS_MULTIPLIER_HIGH_DRIVE_STRAIGHT;
cosMultiplier = DriveConstants.COS_MULTIPLIER_HIGH;
} else {
cosMultiplier = DriveConstants.COS_MULTIPLIER_LOW_DRIVE_STRAIGHT;
cosMultiplier = DriveConstants.COS_MULTIPLIER_LOW;
}
/* Curves the steer output to be similarily gradual */