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Merge pull request #4 from Team4388/add-pigeon-on-smart-dashboard

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Add pigeon on smart dashboard
This commit is contained in:
Keenan D. Buckley
2020-01-11 10:52:44 -07:00
committed by GitHub
parent 290e54157f 6819d78768
commit 97a601c2e9
1 changed files with 13 additions and 0 deletions
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src/main/java/frc4388/robot/subsystems/Drive.java
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@@ -13,6 +13,7 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import com.ctre.phoenix.sensors.PigeonIMU;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.DriveConstants;
@@ -42,6 +43,7 @@ public class Drive extends SubsystemBase {
m_leftBackMotor.configFactoryDefault();
m_rightBackMotor.configFactoryDefault();
m_pigeon.configFactoryDefault();
resetGyroYaw();
/* set back motors as followers */
m_leftBackMotor.follow(m_leftFrontMotor);
@@ -60,6 +62,17 @@ public class Drive extends SubsystemBase {
m_rightBackMotor.setInverted(InvertType.FollowMaster);
}
@Override
public void periodic() {
try {
SmartDashboard.putNumber("Pigeon Yaw", getGyroYaw());
SmartDashboard.putNumber("Pigeon Pitch", getGyroPitch());
SmartDashboard.putNumber("Pigeon Roll", getGyroRoll());
} catch (Exception e) {
System.err.println("The operation failed successfully.");
}
}
/**
* Add your docs here.
*/