Team4388/RiseOfRidgebotics2020
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Code cleanup

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This commit is contained in:
Keenan D. Buckley
2020-02-03 17:31:09 -07:00
parent 3a59650611
commit a8a0f60479
1 changed files with 6 additions and 8 deletions
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src/main/java/frc4388/robot/subsystems/Drive.java
+6 -8
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@@ -81,12 +81,12 @@ public class Drive extends SubsystemBase {
m_rightBackMotor.setInverted(InvertType.FollowMaster);
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
m_rightFrontMotor.config_kF(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kP(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kI(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kD(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.kD, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
m_rightFrontMotor.config_kF(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kP(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kI(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kD(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.kD, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
//Beginning of nada
/* Setup Sensors for WPI_TalonFXs */
@@ -317,8 +317,6 @@ public class Drive extends SubsystemBase {
*/
public void driveWithInput(double move, double steer){
m_driveTrain.arcadeDrive(move, steer);
m_driveTrain.feedWatchdog();
}
public void runPositionPID(WPI_TalonFX talon, double targetPos) {