Team4388/RiseOfRidgebotics2020
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work done on PID

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in better state than last time but still bad
This commit is contained in:
Keenan D. Buckley
2020-01-27 19:06:23 -07:00
parent dec773cdcd
commit 9b6c6ec658
4 changed files with 67 additions and 38 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+2 -2
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@@ -52,7 +52,7 @@ public class RobotContainer {
/* Default Commands */
// drives the robot with a two-axis input from the driver controller
//m_robotDrive.setDefaultCommand(new DriveWithJoystick(m_robotDrive, getDriverController()));
m_robotDrive.setDefaultCommand(new DriveWithJoystick(m_robotDrive, getDriverController()));
// drives motor with input from triggers on the opperator controller
m_robotIntake.setDefaultCommand(new RunIntakeWithTriggers(m_robotIntake, getOperatorController()));
// continually sends updates to the Blinkin LED controller to keep the lights on
@@ -79,7 +79,7 @@ public class RobotContainer {
/* PID Test Command */
new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
.whileHeld(new DriveAtVelocityPID(m_robotDrive, 50));
.whileHeld(new DriveAtVelocityPID(m_robotDrive, 20));
new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
.whenPressed(new InstantCommand(() -> m_robotDrive.resetGyroYaw(), m_robotDrive));