From b22386e5922b0fa22e48472b947fa3fd2b539db2 Mon Sep 17 00:00:00 2001 From: "Keenan D. Buckley" Date: Fri, 17 Jan 2020 17:28:51 -0700 Subject: [PATCH] Invert PID target so robot no spin --- src/main/java/frc4388/robot/commands/DriveToDistanceMM.java | 2 +- src/main/java/frc4388/robot/commands/DriveToDistancePID.java | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc4388/robot/commands/DriveToDistanceMM.java b/src/main/java/frc4388/robot/commands/DriveToDistanceMM.java index c259e54..0faf431 100644 --- a/src/main/java/frc4388/robot/commands/DriveToDistanceMM.java +++ b/src/main/java/frc4388/robot/commands/DriveToDistanceMM.java @@ -30,7 +30,7 @@ public class DriveToDistanceMM extends CommandBase { @Override public void initialize() { m_leftTarget = m_drive.m_leftFrontMotor.getActiveTrajectoryPosition() + m_distance; - m_rightTarget = m_drive.m_rightFrontMotor.getActiveTrajectoryPosition() + m_distance; + m_rightTarget = -(m_drive.m_rightFrontMotor.getActiveTrajectoryPosition() + m_distance); } // Called every time the scheduler runs while the command is scheduled. diff --git a/src/main/java/frc4388/robot/commands/DriveToDistancePID.java b/src/main/java/frc4388/robot/commands/DriveToDistancePID.java index e0bbbe8..6c8e1cc 100644 --- a/src/main/java/frc4388/robot/commands/DriveToDistancePID.java +++ b/src/main/java/frc4388/robot/commands/DriveToDistancePID.java @@ -30,7 +30,7 @@ public class DriveToDistancePID extends CommandBase { @Override public void initialize() { m_leftTarget = m_drive.m_leftFrontMotor.getActiveTrajectoryPosition() + m_distance; - m_rightTarget = m_drive.m_rightFrontMotor.getActiveTrajectoryPosition() + m_distance; + m_rightTarget = -(m_drive.m_rightFrontMotor.getActiveTrajectoryPosition() + m_distance); } // Called every time the scheduler runs while the command is scheduled.