Team4388/RiseOfRidgebotics2020
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Fixed Deadband Issue

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Made motors running at same speed.
This commit is contained in:
aarav18
2020-01-18 09:27:53 -08:00
parent 4d7a03d230
commit c72a32efb2
2 changed files with 8 additions and 5 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+2 -2
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@@ -88,8 +88,8 @@ public class RobotContainer {
new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON) new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
.whenPressed(new DriveAtVelocityPID(m_robotDrive, 2000)); .whenPressed(new DriveAtVelocityPID(m_robotDrive, 2000));
new JoystickButton(getDriverJoystick(), XboxController.LEFT_JOYSTICK_BUTTON) //new JoystickButton(getDriverJoystick(), XboxController.LEFT_JOYSTICK_BUTTON)
.whenPressed(new InstantCommand(null, m_robotDrive)); //.whenPressed(new InstantCommand(null, m_robotDrive));
} }
/** /**
src/main/java/frc4388/robot/subsystems/Drive.java
+6 -3
View File
@@ -61,6 +61,9 @@ public class Drive extends SubsystemBase {
m_leftBackMotor.setInverted(InvertType.FollowMaster); m_leftBackMotor.setInverted(InvertType.FollowMaster);
m_rightBackMotor.setInverted(InvertType.FollowMaster); m_rightBackMotor.setInverted(InvertType.FollowMaster);
m_leftBackMotor.configNeutralDeadband(0.0); // DO NOT CHANGE
m_rightBackMotor.configNeutralDeadband(0.0); //Ensures motors run at the same speed
/* Motor Encoders */ /* Motor Encoders */
//m_leftFrontMotor.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, DriveConstants.DRIVE_PID_LOOP_IDX, DriveConstants.DRIVE_TIMEOUT_MS); //m_leftFrontMotor.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, DriveConstants.DRIVE_PID_LOOP_IDX, DriveConstants.DRIVE_TIMEOUT_MS);
//m_rightFrontMotor.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, DriveConstants.DRIVE_PID_LOOP_IDX, DriveConstants.DRIVE_TIMEOUT_MS); //m_rightFrontMotor.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, DriveConstants.DRIVE_PID_LOOP_IDX, DriveConstants.DRIVE_TIMEOUT_MS);
@@ -83,7 +86,7 @@ public class Drive extends SubsystemBase {
m_leftFrontMotor.configMotionAcceleration(6000, DriveConstants.DRIVE_TIMEOUT_MS); m_leftFrontMotor.configMotionAcceleration(6000, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configMotionCruiseVelocity(15000, DriveConstants.DRIVE_TIMEOUT_MS); m_rightFrontMotor.configMotionCruiseVelocity(15000, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configMotionAcceleration(6000, DriveConstants.DRIVE_TIMEOUT_MS); m_rightFrontMotor.configMotionAcceleration(6000, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftFrontMotor.setSelectedSensorPosition(0, DriveConstants.DRIVE_PID_LOOP_IDX, DriveConstants.DRIVE_TIMEOUT_MS); m_leftFrontMotor.setSelectedSensorPosition(0, DriveConstants.DRIVE_PID_LOOP_IDX, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.setSelectedSensorPosition(0, DriveConstants.DRIVE_PID_LOOP_IDX, DriveConstants.DRIVE_TIMEOUT_MS); m_rightFrontMotor.setSelectedSensorPosition(0, DriveConstants.DRIVE_PID_LOOP_IDX, DriveConstants.DRIVE_TIMEOUT_MS);
@@ -142,8 +145,8 @@ public class Drive extends SubsystemBase {
public void setDriveTrainNeutralMode(NeutralMode mode) { public void setDriveTrainNeutralMode(NeutralMode mode) {
m_leftFrontMotor.setNeutralMode(mode); m_leftFrontMotor.setNeutralMode(mode);
m_rightFrontMotor.setNeutralMode(mode); m_rightFrontMotor.setNeutralMode(mode);
m_leftFrontMotor.setNeutralMode(mode); m_leftBackMotor.setNeutralMode(mode);
m_rightFrontMotor.setNeutralMode(mode); m_rightBackMotor.setNeutralMode(mode);
} }
/** /**