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Switched All PIDs to High Gear

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Motion Magic and Position need testing.
This commit is contained in:
Aarav Shah
2020-03-01 13:34:54 -07:00
parent 26a208524e
commit 92df6a3d5f
3 changed files with 14 additions and 4 deletions
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src/main/java/frc4388/robot/commands/DriveStraightToPositionPID.java
+12 -2
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@@ -11,9 +11,11 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.Constants.DriveConstants;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.Pneumatics;
public class DriveStraightToPositionPID extends CommandBase {
Drive m_drive;
Pneumatics m_pneumatics;
double m_targetPosIn;
double m_targetPosOut;
double m_targetGyro;
@@ -24,10 +26,18 @@ public class DriveStraightToPositionPID extends CommandBase {
* @param subsystem drive subsystem
* @param targetPos distance to travel in inches
*/
public DriveStraightToPositionPID(Drive subsystem, double targetPos) {
public DriveStraightToPositionPID(Drive subsystem, Pneumatics subsystem2, double targetPos) {
// Use addRequirements() here to declare subsystem dependencies.
m_drive = subsystem;
m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_LOW * 2;
try {
if (m_pneumatics.m_isSpeedShiftHigh) {
m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_HIGH * 2;
} else {
m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_LOW * 2;
}
} catch (Exception e) {
System.err.println("Error In Motion Magic Switch Gains.");
}
addRequirements(m_drive);
//SmartDashboard.putNumber("Distance Target Inches", targetPos);
}