From 9f1368016c5d9828ccdc89f6a9d9b67a575f1b5d Mon Sep 17 00:00:00 2001 From: Elijah Price Date: Sat, 29 Feb 2020 09:54:43 -0700 Subject: [PATCH] testing storage PID --- src/main/java/frc4388/robot/Constants.java | 2 +- src/main/java/frc4388/robot/RobotContainer.java | 3 +-- src/main/java/frc4388/robot/commands/StoragePositionPID.java | 4 ++-- 3 files changed, 4 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 02b6f7b..152dede 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -159,7 +159,7 @@ public final class Constants { /* PID Gains */ public static final double STORAGE_MIN_OUTPUT = -1.0; - public static final Gains STORAGE_GAINS = new Gains(1, 0.0, 0.0, 0.0, 0, 1.0); + public static final Gains STORAGE_GAINS = new Gains(0.1, 0.0, 0.0, 0.0, 0, 1.0); } public static final class LEDConstants { diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 08277bc..6077671 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -196,8 +196,7 @@ public class RobotContainer { .whenReleased(new RunCommand(() -> m_robotShooter.m_angleAdjustMotor.set(0))); new JoystickButton(getOperatorJoystick(), XboxController.START_BUTTON) - .whileHeld(new RunCommand(() -> m_robotStorage.runStoragePositionPID(7))) - .whenReleased(new RunCommand(() -> m_robotShooter.m_angleAdjustMotor.set(0))); + .whileHeld(new RunCommand(() -> m_robotStorage.runStoragePositionPID(7))); } /** diff --git a/src/main/java/frc4388/robot/commands/StoragePositionPID.java b/src/main/java/frc4388/robot/commands/StoragePositionPID.java index 2fe2c5b..ec6caad 100644 --- a/src/main/java/frc4388/robot/commands/StoragePositionPID.java +++ b/src/main/java/frc4388/robot/commands/StoragePositionPID.java @@ -42,10 +42,10 @@ public class StoragePositionPID extends CommandBase { // Returns true when the command should end. @Override public boolean isFinished() { - if (startPos + StorageConstants.STORAGE_FULL_BALL == m_storage.getEncoderPos()) + /*if (startPos + StorageConstants.STORAGE_FULL_BALL == m_storage.getEncoderPos()) { return true; - } + }*/ return false; } }