From ab1a670050e1655cd1e7accf1763f61c39af07f1 Mon Sep 17 00:00:00 2001 From: "Keenan D. Buckley" Date: Mon, 20 Jan 2020 10:46:07 -0700 Subject: [PATCH] Remove magic numbers --- src/main/java/frc4388/robot/subsystems/Drive.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java index 808cf60..4068296 100644 --- a/src/main/java/frc4388/robot/subsystems/Drive.java +++ b/src/main/java/frc4388/robot/subsystems/Drive.java @@ -137,8 +137,8 @@ public class Drive extends SubsystemBase { * - sensor movement is very slow causing the derivative error to be near zero. */ int closedLoopTimeMs = 1; - m_leftFrontMotor.configClosedLoopPeriod(0, closedLoopTimeMs, DriveConstants.DRIVE_TIMEOUT_MS); - m_leftFrontMotor.configClosedLoopPeriod(1, closedLoopTimeMs, DriveConstants.DRIVE_TIMEOUT_MS); + m_leftFrontMotor.configClosedLoopPeriod(DriveConstants.PID_PRIMARY, closedLoopTimeMs, DriveConstants.DRIVE_TIMEOUT_MS); + m_leftFrontMotor.configClosedLoopPeriod(DriveConstants.PID_TURN, closedLoopTimeMs, DriveConstants.DRIVE_TIMEOUT_MS); /** * configAuxPIDPolarity(boolean invert, int timeoutMs)