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testing storage PID

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Elijah Price
2020-02-29 09:54:43 -07:00
parent 7c9bdc030f
commit 9f1368016c
3 changed files with 4 additions and 5 deletions
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src/main/java/frc4388/robot/Constants.java
+1 -1
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@@ -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 {
src/main/java/frc4388/robot/RobotContainer.java
+1 -2
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@@ -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)));
}
/**
src/main/java/frc4388/robot/commands/StoragePositionPID.java
+2 -2
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@@ -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;
}
}