From b9919693cd3533c060d5ea29972323863e095cac Mon Sep 17 00:00:00 2001 From: "Keenan D. Buckley" Date: Wed, 12 Feb 2020 20:37:45 -0700 Subject: [PATCH] Make Dead Assist default drive mode --- src/main/java/frc4388/robot/RobotContainer.java | 8 ++------ .../commands/DriveWithJoystickUsingDeadAssistPID.java | 2 +- 2 files changed, 3 insertions(+), 7 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 2585fbc..a431921 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -18,8 +18,7 @@ import frc4388.robot.Constants.*; import frc4388.robot.commands.DriveStraightAtVelocityPID; import frc4388.robot.commands.DriveStraightToPositionMM; import frc4388.robot.commands.DriveStraightToPositionPID; -import frc4388.robot.commands.DriveWithJoystick; -import frc4388.robot.commands.DriveWithJoystickAuxPID; +import frc4388.robot.commands.DriveWithJoystickUsingDeadAssistPID; import frc4388.robot.commands.RunClimberWithTriggers; import frc4388.robot.commands.RunExtenderOutIn; import frc4388.robot.commands.RunIntakeWithTriggers; @@ -30,9 +29,6 @@ import frc4388.robot.subsystems.LED; import frc4388.robot.subsystems.Shooter; import frc4388.robot.subsystems.Climber; import frc4388.robot.commands.RunLevelerWithJoystick; -import frc4388.robot.subsystems.Drive; -import frc4388.robot.subsystems.Intake; -import frc4388.robot.subsystems.LED; import frc4388.robot.subsystems.Leveler; import frc4388.robot.subsystems.Storage; import frc4388.utility.LEDPatterns; @@ -68,7 +64,7 @@ public class RobotContainer { /* Default Commands */ // drives the robot with a two-axis input from the driver controller - m_robotDrive.setDefaultCommand(new DriveWithJoystick(m_robotDrive, getDriverController())); + m_robotDrive.setDefaultCommand(new DriveWithJoystickUsingDeadAssistPID(m_robotDrive, getDriverController())); // drives intake with input from triggers on the opperator controller m_robotIntake.setDefaultCommand(new RunIntakeWithTriggers(m_robotIntake, getOperatorController())); // drives climber with input from triggers on the opperator controller diff --git a/src/main/java/frc4388/robot/commands/DriveWithJoystickUsingDeadAssistPID.java b/src/main/java/frc4388/robot/commands/DriveWithJoystickUsingDeadAssistPID.java index 11f3261..0a7938e 100644 --- a/src/main/java/frc4388/robot/commands/DriveWithJoystickUsingDeadAssistPID.java +++ b/src/main/java/frc4388/robot/commands/DriveWithJoystickUsingDeadAssistPID.java @@ -61,7 +61,7 @@ public class DriveWithJoystickUsingDeadAssistPID extends CommandBase { currentGyro-(DriveConstants.TICKS_PER_GYRO_REV/4), currentGyro+(DriveConstants.TICKS_PER_GYRO_REV/4)); } - /* Otherwise set target angle to current angle */ + /* Otherwise set target angle to current angle (prevents buildup of gyro error) */ else { m_targetGyro = currentGyro; }