Team4388/RiseOfRidgebotics2020
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setup code to fix broken dead assist

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This commit is contained in:
ryan123rudder
2020-02-13 17:08:41 -07:00
parent 3e248bd186
commit 9014d00798
2 changed files with 13 additions and 1 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+2 -1
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@@ -18,6 +18,7 @@ import frc4388.robot.Constants.*;
import frc4388.robot.commands.DriveStraightAtVelocityPID;
import frc4388.robot.commands.DriveStraightToPositionMM;
import frc4388.robot.commands.DriveStraightToPositionPID;
import frc4388.robot.commands.DriveWithJoystick;
import frc4388.robot.commands.DriveWithJoystickUsingDeadAssistPID;
import frc4388.robot.commands.RunClimberWithTriggers;
import frc4388.robot.commands.RunExtenderOutIn;
@@ -64,7 +65,7 @@ public class RobotContainer {
/* Default Commands */
// drives the robot with a two-axis input from the driver controller
m_robotDrive.setDefaultCommand(new DriveWithJoystickUsingDeadAssistPID(m_robotDrive, getDriverController()));
m_robotDrive.setDefaultCommand(new DriveWithJoystick(m_robotDrive, getDriverController()));
// drives intake with input from triggers on the opperator controller
m_robotIntake.setDefaultCommand(new RunIntakeWithTriggers(m_robotIntake, getOperatorController()));
// drives climber with input from triggers on the opperator controller
src/main/java/frc4388/robot/commands/DriveWithJoystickUsingDeadAssistPID.java
+11
View File
@@ -86,21 +86,32 @@ public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
steerOutput = cosMultiplier*Math.cos(1.571*steerInput)-(cosMultiplier+deadzone);
}
m_drive.driveWithInput(moveOutput, steerOutput);
System.out.println("Driving With Input");
isAuxPIDEnabled = false;
}
/* If only the move stick is being used */
else {
m_drive.driveWithInputAux(moveOutput, m_targetGyro);
System.out.println("Driving with Input Aux with Target: " + m_targetGyro);
isAuxPIDEnabled = true;
}
}
/* If the move stick is not being used */
else {
m_drive.runDriveStraightVelocityPID(0, m_targetGyro);
System.out.println("Driving with Velocity PID with Target: " + m_targetGyro);
isAuxPIDEnabled = true;
}
}
private void updateGyroTarget() {
}
private void resetGyroTarget() {
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {