Team4388/RiseOfRidgebotics2020
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Removed Output Limits, Added GotoCoordinates Command

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This commit is contained in:
Aarav Shah
2020-02-28 20:48:22 -07:00
parent ad50840f7c
commit a70983a4c2
5 changed files with 86 additions and 14 deletions
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src/main/java/frc4388/robot/subsystems/Drive.java
+7
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@@ -88,6 +88,7 @@ public class Drive extends SubsystemBase {
public double m_lastAngleYaw = 0;
public double m_currentAngleYaw = 0;
public double m_lastAngleGotoCoordinates;
/* Smart Dashboard Objects */
SendableChooser<String> m_songChooser = new SendableChooser<String>();
@@ -726,6 +727,12 @@ public class Drive extends SubsystemBase {
//SmartDashboard.putNumber("Left Back Output", m_leftBackMotor.get());
//SmartDashboard.putNumber("Right Back Output", m_rightBackMotor.get());
double leftRPM = m_leftFrontMotor.getSensorCollection().getIntegratedSensorVelocity();
double rightRPM = m_rightFrontMotor.getSensorCollection().getIntegratedSensorVelocity();
SmartDashboard.putNumber("Left Motor RPM", leftRPM);
SmartDashboard.putNumber("Right Motor RPM", rightRPM);
//SmartDashboard.putNumber("Left Back Motor Velocity Raw", m_leftBackMotor.getSelectedSensorVelocity());
//SmartDashboard.putNumber("Right Back Motor Velocity Raw", m_rightBackMotor.getSelectedSensorVelocity());
//SmartDashboard.putNumber("Left Motor Position Raw", m_leftFrontMotor.getSelectedSensorPosition());