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Merge branch 'master' into master-updates

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This commit is contained in:
Keenan D. Buckley
2020-03-03 01:04:56 +00:00
committed by GitHub
parent 923c04bf34 faae8cfa6a
commit a6e5103193
13 changed files with 267 additions and 78 deletions
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src/main/java/frc4388/robot/subsystems/Drive.java
+15 -2
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@@ -53,7 +53,7 @@ public class Drive extends SubsystemBase {
public Orchestra m_orchestra;
/* Pneumatics Subsystem */
Pneumatics m_pneumaticsSubsystem;
public Pneumatics m_pneumaticsSubsystem;
/* Low Gear Gains */
public static Gains m_gainsDistanceLow = DriveConstants.DRIVE_DISTANCE_GAINS_LOW;
@@ -114,6 +114,11 @@ public class Drive extends SubsystemBase {
m_leftFrontMotor.configOpenloopRamp(DriveConstants.OPEN_LOOP_RAMP_RATE, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftBackMotor.configOpenloopRamp(DriveConstants.OPEN_LOOP_RAMP_RATE, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configClosedloopRamp(DriveConstants.OPEN_LOOP_RAMP_RATE, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightBackMotor.configClosedloopRamp(DriveConstants.OPEN_LOOP_RAMP_RATE, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftFrontMotor.configClosedloopRamp(DriveConstants.OPEN_LOOP_RAMP_RATE, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftBackMotor.configClosedloopRamp(DriveConstants.OPEN_LOOP_RAMP_RATE, DriveConstants.DRIVE_TIMEOUT_MS);
/* Config Supply Current Limit (Use only for debugging) */
//m_rightFrontMotor.configSupplyCurrentLimit(DriveConstants.SUPPLY_CURRENT_LIMIT_CONFIG);
//m_leftFrontMotor.configSupplyCurrentLimit(DriveConstants.SUPPLY_CURRENT_LIMIT_CONFIG);
@@ -127,7 +132,15 @@ public class Drive extends SubsystemBase {
m_rightFrontMotor.configNeutralDeadband(DriveConstants.NEUTRAL_DEADBAND, DriveConstants.DRIVE_TIMEOUT_MS);
/* PID for Front Motor Control in Teleop */
setRightMotorGains(false);
try {
if (m_pneumaticsSubsystem.m_isSpeedShiftHigh) {
setRightMotorGains(true);
} else {
setRightMotorGains(false);
}
} catch (Exception e) {
System.err.println("Error while trying to switch gains.");
}
/* PID for Back Motor Control in Tank Drive Vel */
m_rightBackMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);