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Got DriveStraightAtVelocityPID Working

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This commit is contained in:
aarav18
2020-02-06 18:36:04 -07:00
parent 4dc07d718a
commit 987a3a2647
6 changed files with 155 additions and 114 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+3 -2
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@@ -17,7 +17,8 @@ import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.commands.DriveAtVelocityPID;
import frc4388.robot.commands.DriveToDistanceMM;
import frc4388.robot.commands.DriveToDistancePID;
import frc4388.robot.commands.DriveStraightToPositionPID;
import frc4388.robot.commands.DriveStraightAtVelocityPID;
import frc4388.robot.commands.DriveWithJoystick;
import frc4388.robot.commands.RunIntakeWithTriggers;
import frc4388.robot.subsystems.Drive;
@@ -79,7 +80,7 @@ public class RobotContainer {
/* PID Test Command */
new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
.whenPressed(new DriveAtVelocityPID(m_robotDrive, 150))
.whenPressed(new DriveStraightAtVelocityPID(m_robotDrive, 1000))
.whenReleased(new InstantCommand(() -> System.out.print("Gamer"), m_robotDrive));
new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)