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Invert PID target so robot no spin

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This commit is contained in:
Keenan D. Buckley
2020-01-17 17:28:51 -07:00
parent 9be99be0c3
commit b22386e592
2 changed files with 2 additions and 2 deletions
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src/main/java/frc4388/robot/commands/DriveToDistanceMM.java
+1 -1
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@@ -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.
src/main/java/frc4388/robot/commands/DriveToDistancePID.java
+1 -1
View File
@@ -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.