Team4388/RiseOfRidgebotics2020
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This commit is contained in:
Aarav Shah
2020-02-26 17:36:50 -07:00
parent 2e3fea423e
commit afaae3ca1d
1 changed files with 7 additions and 4 deletions
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src/main/java/frc4388/robot/commands/DriveWithJoystickUsingDeadAssistPID.java
+7 -4
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@@ -12,10 +12,12 @@ import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpiutil.math.MathUtil;
import frc4388.robot.Constants.DriveConstants;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.Pneumatics;
import frc4388.utility.controller.IHandController;
public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
Drive m_drive;
Pneumatics m_pneumatics;
double m_targetGyro, m_currentGyro;
double m_stopPos;
long m_currTime, m_deltaTime;
@@ -44,14 +46,15 @@ public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
* Creates a new DriveWithJoystickUsingDeadAssistPID to control the drivetrain with an Xbox controller.
* Applies a curved ramp to the input from the controllers to make the robot less "touchy".
* Also uses PIDs to keep the robot on course when given a "dead" or 0 input.
* @param subsystem pass the Drive subsystem from {@link frc4388.robot.RobotContainer#RobotContainer() RobotContainer}
* @param subsystemDrive pass the Drive subsystem from {@link frc4388.robot.RobotContainer#RobotContainer() RobotContainer}
* @param controller pass the Driver {@link frc4388.utility.controller.IHandController#getClass() IHandController} using the
* {@link frc4388.robot.RobotContainer#getDriverJoystick() getDriverJoystick()} method in
* {@link frc4388.robot.RobotContainer#RobotContainer() RobotContainer}
*/
public DriveWithJoystickUsingDeadAssistPID(Drive subsystem, IHandController controller) {
public DriveWithJoystickUsingDeadAssistPID(Drive subsystemDrive, Pneumatics subsystemPneumatics, IHandController controller) {
// Use addRequirements() here to declare subsystem dependencies.
m_drive = subsystem;
m_drive = subsystemDrive;
m_pneumatics = subsystemPneumatics;
m_controller = controller;
addRequirements(m_drive);
}
@@ -96,7 +99,7 @@ public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
moveOutput = Math.cos(1.571*moveInput)-1;
}
if (m_drive.m_isSpeedShiftHigh) {
if (m_pneumatics.m_isSpeedShiftHigh) {
runDriveWithInput(moveOutput, steerInput);
resetGyroTarget();
}