Team4388/RiseOfRidgebotics2020
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Changed values and cleaned up

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This commit is contained in:
Aarav Shah
2020-02-20 20:14:51 -07:00
parent c40bba15ff
commit 92af17f885
2 changed files with 14 additions and 9 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+5 -5
View File
@@ -128,7 +128,7 @@ public class RobotContainer {
// resets the yaw of the pigeon
new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
.whileHeld(new RunCommand(() -> m_robotDrive.tankDriveVelocity(1, 1), m_robotDrive));
.whileHeld(new RunCommand(() -> m_robotDrive.tankDriveVelocity(9, 3), m_robotDrive));
// turn 45 degrees
new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
@@ -195,14 +195,14 @@ public class RobotContainer {
new Pose2d(0, 0, new Rotation2d(0)),
// Pass through these two interior waypoints, making an 's' curve path
List.of(
new Translation2d(3, 0)
//new Translation2d(2, -1)
new Translation2d(10, 0)
),
// End 3 meters straight ahead of where we started, facing forward
new Pose2d(3, 0, new Rotation2d(0)),
new Pose2d(20, 20, new Rotation2d(0)),
// Pass config
config);
// 10 = 20, 20 = 35, 30 = 53.5
// (0,10) = (8,22)
RamseteCommand ramseteCommand = new RamseteCommand(
exampleTrajectory,
m_robotDrive::getPose,
src/main/java/frc4388/robot/subsystems/Drive.java
+9 -4
View File
@@ -275,10 +275,10 @@ public class Drive extends SubsystemBase {
m_currentTimeSec = (int)(System.currentTimeMillis() / 1000);
SmartDashboard.putNumber("Time Seconds", System.currentTimeMillis());
if (m_currentTimeSec % 10 == 0) {
if (m_currentTimeSec % 30 == 0) {
coolFalcon(true);
SmartDashboard.putBoolean("Solenoid", true);
} else if ((m_currentTimeSec - 2) % 10 == 0) {
} else if ((m_currentTimeSec - 1) % 30 == 0) {
coolFalcon(false);
SmartDashboard.putBoolean("Solenoid", false);
}
@@ -467,6 +467,8 @@ public class Drive extends SubsystemBase {
m_rightBackMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
m_leftBackMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
System.err.println(moveVelLeft);
m_rightBackMotor.set(TalonFXControlMode.Velocity, moveVelRight);
m_leftBackMotor.set(TalonFXControlMode.Velocity, moveVelLeft);
m_leftFrontMotor.follow(m_leftBackMotor);
@@ -531,9 +533,12 @@ public class Drive extends SubsystemBase {
m_currentAngleYaw = 0;
m_kinematicsTargetAngle = 0;
}
//lol
//sko
//ridge
/**
* Returns the heading of the robot
//brayden=bad coder
* Returns the heading of the robot
* @return The robot's heading in degrees, from -180 to 180
*/
public double getHeading() {