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Applied 80% Output Limit, Fixed PID 1/2 Distance Problem

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This commit is contained in:
Aarav Shah
2020-02-28 19:13:38 -07:00
parent d83d21e062
commit ad50840f7c
3 changed files with 13 additions and 6 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_LOW;
m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_LOW * 2;
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_LOW;
m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_LOW * 2;
addRequirements(m_drive);
//SmartDashboard.putNumber("Distance Target Inches", targetPos);
}
src/main/java/frc4388/robot/commands/DriveWithJoystick.java
+11 -4
View File
@@ -58,11 +58,18 @@ public class DriveWithJoystick extends CommandBase {
} else {
steerOutput = 0;
}
double tempOutputLimit = 0.8;
if (moveOutput > 0.5) {
moveOutput = 0.5;
} else if(moveOutput < -0.5) {
moveOutput = -0.5;
if (moveOutput > tempOutputLimit) {
moveOutput = tempOutputLimit;
} else if(moveOutput < -tempOutputLimit) {
moveOutput = -tempOutputLimit;
}
if (steerOutput > tempOutputLimit) {
steerOutput = tempOutputLimit;
} else if(steerOutput < -tempOutputLimit) {
steerOutput = -tempOutputLimit;
}
SmartDashboard.putNumber("Steer Output Test", moveOutput);