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/commands/DriveAtVelocityPID.java
+5 -1
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@@ -16,6 +16,7 @@ import frc4388.robot.subsystems.Drive;
public class DriveAtVelocityPID extends CommandBase {
Drive m_drive;
double m_targetGyro;
double m_targetVel;
double m_leftTarget;
double m_rightTarget;
@@ -38,15 +39,18 @@ public class DriveAtVelocityPID extends CommandBase {
public void initialize() {
m_leftTarget = m_targetVel;
m_rightTarget = m_targetVel;
m_targetGyro = m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN);
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
m_drive.runVelocityPID(m_targetVel);
m_drive.runVelocityPID(m_targetVel, 0);
SmartDashboard.putNumber("Input Target Velocity", m_copiedTargetVel);
SmartDashboard.putNumber("Output Target Velocity", m_targetVel);
SmartDashboard.putNumber("Target Angle", m_targetGyro);
//m_drive.runVelocityPID(m_leftTarget);
//m_drive.m_leftFrontMotor.follow(m_drive.m_rightFrontMotor, FollowerType.PercentOutput);
}