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Added inches to encoder ticks conversion

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This commit is contained in:
Keenan D. Buckley
2020-01-18 15:12:48 -07:00
parent 162bbac7bc
commit cbc112982c
5 changed files with 33 additions and 9 deletions
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src/main/java/frc4388/robot/commands/DriveToDistancePID.java
+8 -3
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@@ -9,6 +9,7 @@ package frc4388.robot.commands;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.Constants.DriveConstants;
import frc4388.robot.subsystems.Drive;
public class DriveToDistancePID extends CommandBase {
@@ -19,12 +20,15 @@ public class DriveToDistancePID extends CommandBase {
/**
* Creates a new DriveToDistancePID.
* @param subsystem drive subsystem
* @param distance distance to travel in inches
*/
public DriveToDistancePID(Drive subsystem, double distance) {
// Use addRequirements() here to declare subsystem dependencies.
m_drive = subsystem;
m_distance = distance;
m_distance = distance * DriveConstants.TICKS_PER_INCH;
addRequirements(m_drive);
SmartDashboard.putNumber("Distance Target Inches", distance);
}
// Called when the command is initially scheduled.
@@ -32,8 +36,9 @@ public class DriveToDistancePID extends CommandBase {
public void initialize() {
m_leftTarget = m_drive.m_leftFrontMotor.getActiveTrajectoryPosition() + m_distance;
m_rightTarget = -(m_drive.m_rightFrontMotor.getActiveTrajectoryPosition() + m_distance);
SmartDashboard.putNumber("Left Target", m_leftTarget);
SmartDashboard.putNumber("Right Target", m_rightTarget);
SmartDashboard.putNumber("Distance Target Ticks", m_distance);
SmartDashboard.putNumber("Left Target Ticks", m_leftTarget);
SmartDashboard.putNumber("Right Target Ticks", m_rightTarget);
}
// Called every time the scheduler runs while the command is scheduled.