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Organize Drive Periodic

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This commit is contained in:
Keenan D. Buckley
2020-02-25 23:34:38 -07:00
parent 5225a98c2c
commit a36a7f978e
2 changed files with 39 additions and 33 deletions
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src/main/java/frc4388/robot/commands/DrivePositionMPAux.java
+1 -1
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@@ -63,7 +63,7 @@ public class DrivePositionMPAux extends CommandBase {
m_currentPos = m_drive.m_rightFrontMotorPos;
if (System.currentTimeMillis() - m_startTime < m_rampRate) {
// Ramping
m_targetVel += m_rampAcc * m_drive.m_deltaTime;
m_targetVel += m_rampAcc * m_drive.m_deltaTimeMs;
m_drive.runDriveVelocityPID(-m_targetVel, m_targetGyro);
} else if (m_targetPos - m_currentPos > m_rampDist) {
// Cruising