Team4388/RiseOfRidgebotics2020
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Merge branch 'add-ramsete-controller-and-trajectories' of https://github.com/Team4388/RiseOfRidgebotics2020 into add-ramsete-controller-and-trajectories

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This commit is contained in:
Keenan D. Buckley
2020-02-18 19:45:34 -07:00
parent 6cc1f7fb50 24e0d07f3a
commit cb2489ee9e
1 changed files with 31 additions and 4 deletions
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src/main/java/frc4388/robot/subsystems/Drive.java
+31 -4
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@@ -63,7 +63,10 @@ public class Drive extends SubsystemBase {
public final DifferentialDriveOdometry m_odometry;
public DoubleSolenoid speedShift;
public DoubleSolenoid m_speedShift;
public DoubleSolenoid m_coolFalcon;
public int m_currentTimeSec = (int)(System.currentTimeMillis() * 1000);
public long m_lastTime, m_deltaTime; //in milliseconds
@@ -83,8 +86,11 @@ public class Drive extends SubsystemBase {
m_odometry = new DifferentialDriveOdometry(Rotation2d.fromDegrees(getHeading()), new Pose2d(0, 0, new Rotation2d()));
speedShift = new DoubleSolenoid(7,0,1);
m_speedShift = new DoubleSolenoid(7,0,1);
m_coolFalcon = new DoubleSolenoid(7,3,2);
coolFalcon(false);
/* set back motors as followers */
m_leftBackMotor.follow(m_leftFrontMotor);
m_rightBackMotor.follow(m_rightFrontMotor);
@@ -265,6 +271,13 @@ public class Drive extends SubsystemBase {
@Override
public void periodic() {
if (m_currentTimeSec % 10 == 0) {
coolFalcon(true);
} else if ((m_currentTimeSec - 2) % 10 == 0) {
coolFalcon(false);
}
m_deltaTime = System.currentTimeMillis() - m_lastTime;
m_lastTime = System.currentTimeMillis();
m_lastAngleYaw = m_currentAngleYaw;
@@ -626,10 +639,24 @@ public class Drive extends SubsystemBase {
*/
public void setShiftState(boolean state) {
if (state == true) {
speedShift.set(DoubleSolenoid.Value.kForward);
m_speedShift.set(DoubleSolenoid.Value.kForward);
}
if (state == false) {
speedShift.set(DoubleSolenoid.Value.kReverse);
m_speedShift.set(DoubleSolenoid.Value.kReverse);
}
}
/**
* Set to open or close solenoid that cools the falcon, true = open, false = close
* @param state Chooses between open and close
*/
public void coolFalcon(boolean state) {
if (state == true) {
m_coolFalcon.set(DoubleSolenoid.Value.kForward);
}
if (state == false) {
m_coolFalcon.set(DoubleSolenoid.Value.kReverse);
}
}
}