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Input/Output Smart Dashboard PID Values

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mayabartels
2020-01-13 19:55:53 -07:00
parent 3c0a64ffde
commit 928fb6cd5a
1 changed files with 22 additions and 9 deletions
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src/main/java/frc4388/robot/subsystems/Drive.java
+22 -9
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@@ -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) {