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rework Deadassist to enable after a timeout

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This keeps it out of the hair of the drivers while also possibly being useful
This commit is contained in:
Keenan D. Buckley
2020-02-17 18:25:48 -07:00
parent 3cdeec01eb
commit b729d04db4
3 changed files with 54 additions and 31 deletions
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src/main/java/frc4388/robot/subsystems/Drive.java
+4 -4
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@@ -278,10 +278,10 @@ public class Drive extends SubsystemBase {
SmartDashboard.putNumber("Right Motor Velocity Int Sensor", m_rightFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
SmartDashboard.putNumber("Left Motor Velocity Int Sensor", m_leftFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
//SmartDashboard.putNumber("Right Front Motor Current", m_rightFrontMotor.getSupplyCurrent());
//SmartDashboard.putNumber("Left Front Motor Current", m_leftFrontMotor.getSupplyCurrent());
//SmartDashboard.putNumber("Right Back Motor Current", m_rightFrontMotor.getSupplyCurrent());
//SmartDashboard.putNumber("Left Back Motor Current", m_leftFrontMotor.getSupplyCurrent());
SmartDashboard.putNumber("Right Front Motor Current Supply", m_rightFrontMotor.getSupplyCurrent());
SmartDashboard.putNumber("Left Front Motor Current Supply", m_leftFrontMotor.getSupplyCurrent());
SmartDashboard.putNumber("Right Front Motor Current Stator ", m_rightFrontMotor.getStatorCurrent());
SmartDashboard.putNumber("Left Front Motor Current Stator", m_leftFrontMotor.getSupplyCurrent());
SmartDashboard.putNumber("PID 0 Error", m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_PRIMARY));
SmartDashboard.putNumber("PID 1 Error", m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_TURN));