Team4388/RiseOfRidgebotics2020
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Merge branch 'master' into add-motion-magic

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This commit is contained in:
Keenan D. Buckley
2020-01-11 11:36:01 -07:00
committed by GitHub
parent 4810645d16 4b9543de51
commit acb5f19027
1 changed files with 15 additions and 0 deletions
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src/main/java/frc4388/robot/subsystems/Drive.java
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@@ -17,6 +17,7 @@ import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile.State;
import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.ProfiledPIDSubsystem;
@@ -50,6 +51,7 @@ public class Drive extends ProfiledPIDSubsystem {
m_leftBackMotor.configFactoryDefault();
m_rightBackMotor.configFactoryDefault();
m_pigeon.configFactoryDefault();
resetGyroYaw();
/* set back motors as followers */
m_leftBackMotor.follow(m_leftFrontMotor);
@@ -68,6 +70,19 @@ public class Drive extends ProfiledPIDSubsystem {
m_rightBackMotor.setInverted(InvertType.FollowMaster);
}
@Override
public void periodic() {
try {
SmartDashboard.putNumber("Pigeon Yaw", getGyroYaw());
SmartDashboard.putNumber("Pigeon Pitch", getGyroPitch());
SmartDashboard.putNumber("Pigeon Roll", getGyroRoll());
SmartDashboard.putNumber("Left Motor Velocity Raw", m_leftFrontMotor.getSelectedSensorVelocity());
SmartDashboard.putNumber("Right Motor Velocity Raw", m_rightFrontMotor.getSelectedSensorVelocity());
} catch (Exception e) {
System.err.println("The operation failed successfully.");
}
}
/**
* Add your docs here.
*/