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Finished Drive Straight Velocity PID and started Position PID

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aarav18
2020-02-06 19:43:37 -07:00
parent 987a3a2647
commit 92c4a18c6e
5 changed files with 32 additions and 100 deletions
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src/main/java/frc4388/robot/commands/DriveStraightAtVelocityPID.java
+1 -1
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@@ -35,7 +35,7 @@ public class DriveStraightAtVelocityPID extends CommandBase {
@Override
public void execute() {
System.err.println(m_drive.m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_TURN));
m_drive.runVelocityPID(m_targetVel, m_targetGyro);
m_drive.runDriveStraightVelocityPID(-m_targetVel, m_targetGyro);
}
// Called once the command ends or is interrupted.