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Cleanup DeadAssist

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This commit is contained in:
Keenan D. Buckley
2020-02-19 09:14:03 -07:00
parent 8f039ce40a
commit 9c2a897236
1 changed files with 4 additions and 10 deletions
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src/main/java/frc4388/robot/commands/DriveWithJoystickUsingDeadAssistPID.java
+4 -10
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@@ -112,16 +112,7 @@ public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
private void runStoppedTurn(double steer) {
updateGyroTarget(steer);
m_drive.runDrivePositionPID(m_stopPos, m_targetGyro);
System.out.println("Turning with Target: " + m_targetGyro);
/* if (m_drive.m_rightFrontMotor.getSelectedSensorVelocity() > 3000) {
m_drive.driveWithInputAux(0, m_targetGyro);
System.out.println("!Turning with Target: " + m_targetGyro);
} else {
m_drive.runDriveVelocityPID(0, m_targetGyro);
System.out.println("Turning with Target: " + m_targetGyro);
}*/
}
/**
@@ -129,7 +120,6 @@ public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
*/
private void updateGyroTarget(double steerInput) {
m_targetGyro -= 5 * steerInput * m_deltaTime;
m_targetGyro = MathUtil.clamp( m_targetGyro,
m_currentGyro-(DriveConstants.TICKS_PER_GYRO_REV/8),
m_currentGyro+(DriveConstants.TICKS_PER_GYRO_REV/8));
@@ -142,6 +132,10 @@ public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
m_targetGyro = m_currentGyro;
m_targetGyro = m_currentGyro
+ (3 * m_drive.m_rightFrontMotor.getSelectedSensorVelocity(1));
m_targetGyro = MathUtil.clamp( m_targetGyro,
m_currentGyro-(DriveConstants.TICKS_PER_GYRO_REV/8),
m_currentGyro+(DriveConstants.TICKS_PER_GYRO_REV/8));
}
// Called once the command ends or is interrupted.