From 928fb6cd5ad2a1f6f151e2877427976b81311f66 Mon Sep 17 00:00:00 2001 From: mayabartels Date: Mon, 13 Jan 2020 19:55:53 -0700 Subject: [PATCH] Input/Output Smart Dashboard PID Values --- .../java/frc4388/robot/subsystems/Drive.java | 31 +++++++++++++------ 1 file changed, 22 insertions(+), 9 deletions(-) diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java index 966da67..babc27d 100644 --- a/src/main/java/frc4388/robot/subsystems/Drive.java +++ b/src/main/java/frc4388/robot/subsystems/Drive.java @@ -101,22 +101,35 @@ public class Drive extends SubsystemBase { m_leftFrontMotor.setSelectedSensorPosition(0, DriveConstants.DRIVE_PID_LOOP_IDX, DriveConstants.DRIVE_TIMEOUT_MS); m_rightFrontMotor.setSelectedSensorPosition(0, DriveConstants.DRIVE_PID_LOOP_IDX, DriveConstants.DRIVE_TIMEOUT_MS); + + /* Smart Dashboard Initial Values */ + SmartDashboard.putNumber("Pigeon Yaw", getGyroYaw()); + SmartDashboard.putNumber("Pigeon Pitch", getGyroPitch()); + SmartDashboard.putNumber("Pigeon Roll", getGyroRoll()); + + SmartDashboard.putNumber("Left Motor Velocity Raw", m_leftFrontMotor.getSelectedSensorVelocity()); + SmartDashboard.putNumber("Right Motor Velocity Raw", m_rightFrontMotor.getSelectedSensorVelocity()); + + SmartDashboard.putNumber("P Value Drive", DriveConstants.DRIVE_GAINS.kP); + SmartDashboard.putNumber("I Value Drive", DriveConstants.DRIVE_GAINS.kI); + SmartDashboard.putNumber("D Value Drive", DriveConstants.DRIVE_GAINS.kD); + SmartDashboard.putNumber("F Value Drive", DriveConstants.DRIVE_GAINS.kF); } @Override public void periodic() { try { - SmartDashboard.putNumber("Pigeon Yaw", getGyroYaw()); - SmartDashboard.putNumber("Pigeon Pitch", getGyroPitch()); - SmartDashboard.putNumber("Pigeon Roll", getGyroRoll()); + SmartDashboard.getNumber("Pigeon Yaw", getGyroYaw()); + SmartDashboard.getNumber("Pigeon Pitch", getGyroPitch()); + SmartDashboard.getNumber("Pigeon Roll", getGyroRoll()); - SmartDashboard.putNumber("Left Motor Velocity Raw", m_leftFrontMotor.getSelectedSensorVelocity()); - SmartDashboard.putNumber("Right Motor Velocity Raw", m_rightFrontMotor.getSelectedSensorVelocity()); + SmartDashboard.getNumber("Left Motor Velocity Raw", m_leftFrontMotor.getSelectedSensorVelocity()); + SmartDashboard.getNumber("Right Motor Velocity Raw", m_rightFrontMotor.getSelectedSensorVelocity()); - SmartDashboard.putNumber("P Value Drive", DriveConstants.DRIVE_GAINS.kP); - SmartDashboard.putNumber("I Value Drive", DriveConstants.DRIVE_GAINS.kI); - SmartDashboard.putNumber("D Value Drive", DriveConstants.DRIVE_GAINS.kD); - SmartDashboard.putNumber("F Value Drive", DriveConstants.DRIVE_GAINS.kF); + SmartDashboard.getNumber("P Value Drive", DriveConstants.DRIVE_GAINS.kP); + SmartDashboard.getNumber("I Value Drive", DriveConstants.DRIVE_GAINS.kI); + SmartDashboard.getNumber("D Value Drive", DriveConstants.DRIVE_GAINS.kD); + SmartDashboard.getNumber("F Value Drive", DriveConstants.DRIVE_GAINS.kF); } catch (Exception e) {