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Fix Gearing Issues

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This commit is contained in:
Keenan D. Buckley
2020-02-25 16:15:48 -07:00
parent 5015432107
commit ac82fdad12
5 changed files with 92 additions and 75 deletions
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src/main/java/frc4388/robot/commands/DriveStraightToPositionMM.java
+1 -1
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@@ -28,7 +28,7 @@ public class DriveStraightToPositionMM extends CommandBase {
public DriveStraightToPositionMM(Drive subsystem, double targetPos) {
// Use addRequirements() here to declare subsystem dependencies.
m_drive = subsystem;
m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH;
m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_HIGH;
addRequirements(m_drive);
//SmartDashboard.putNumber("Distance Target Inches", targetPos);
}
src/main/java/frc4388/robot/commands/DriveStraightToPositionPID.java
+1 -1
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@@ -27,7 +27,7 @@ public class DriveStraightToPositionPID extends CommandBase {
public DriveStraightToPositionPID(Drive subsystem, double targetPos) {
// Use addRequirements() here to declare subsystem dependencies.
m_drive = subsystem;
m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH;
m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_HIGH;
addRequirements(m_drive);
//SmartDashboard.putNumber("Distance Target Inches", targetPos);
}
src/main/java/frc4388/robot/commands/DriveWithJoystickUsingDeadAssistPID.java
+1 -1
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@@ -96,7 +96,7 @@ public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
moveOutput = Math.cos(1.571*moveInput)-1;
}
if (m_drive.isSpeedShiftHigh) {
if (m_drive.m_isSpeedShiftHigh) {
runDriveWithInput(moveOutput, steerInput);
resetGyroTarget();
}