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Make it Work

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This commit is contained in:
Keenan D. Buckley
2020-02-11 16:55:04 -07:00
parent 630b99c250
commit d39914ecb3
5 changed files with 26 additions and 16 deletions
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src/main/java/frc4388/robot/subsystems/Drive.java
+15 -10
View File
@@ -56,7 +56,7 @@ public class Drive extends SubsystemBase {
public static PigeonIMU m_pigeon = new PigeonIMU(DriveConstants.PIGEON_ID);
public Orchestra m_orchestra = new Orchestra();
public DifferentialDrive m_driveTrain = new DifferentialDrive(m_leftFrontMotor, m_rightFrontMotor);
//public DifferentialDrive m_driveTrain = new DifferentialDrive(m_leftFrontMotor, m_rightFrontMotor);
SendableChooser<Gains> m_chooser = new SendableChooser<Gains>();
public static Gains m_gainsDistance = DriveConstants.DRIVE_DISTANCE_GAINS;
@@ -91,7 +91,7 @@ public class Drive extends SubsystemBase {
/* flip input so forward becomes back, etc */
m_leftFrontMotor.setInverted(false);
m_rightFrontMotor.setInverted(true);
m_driveTrain.setRightSideInverted(false);
//m_driveTrain.setRightSideInverted(false);
m_leftBackMotor.setInverted(InvertType.FollowMaster);
m_rightBackMotor.setInverted(InvertType.FollowMaster);
@@ -239,10 +239,10 @@ public class Drive extends SubsystemBase {
*/
m_rightFrontMotor.configAuxPIDPolarity(false, DriveConstants.DRIVE_TIMEOUT_MS);
//m_orchestra.addInstrument(m_leftBackMotor);
//m_orchestra.addInstrument(m_leftFrontMotor);
//m_orchestra.addInstrument(m_rightBackMotor);
m_orchestra.addInstrument(m_leftBackMotor);
m_orchestra.addInstrument(m_rightFrontMotor);
m_orchestra.addInstrument(m_rightBackMotor);
m_orchestra.addInstrument(m_leftFrontMotor);
File songsDir = new File(Filesystem.getDeployDirectory().getAbsolutePath() + "/songs");
System.err.println(songsDir.getPath());
@@ -253,6 +253,7 @@ public class Drive extends SubsystemBase {
Shuffleboard.getTab("Songs").add(m_songChooser);
}
String currentSong = "";
@Override
public void periodic() {
try {
@@ -279,7 +280,11 @@ public class Drive extends SubsystemBase {
SmartDashboard.putNumber("PID 0 Pos", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_PRIMARY));
SmartDashboard.putNumber("PID 1 Pos", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN));
selectSong(m_songChooser.getSelected());
if (currentSong != m_songChooser.getSelected()){
currentSong = m_songChooser.getSelected();
selectSong(currentSong);
System.err.println(currentSong);
}
} catch (Exception e) {
System.err.println("Error in the Drive Subsystem");
//e.printStackTrace(System.err);
@@ -348,7 +353,7 @@ public class Drive extends SubsystemBase {
* Add your docs here.
*/
public void driveWithInput(double move, double steer){
m_driveTrain.arcadeDrive(move, steer);
//m_driveTrain.arcadeDrive(move, steer);
}
/**
@@ -364,7 +369,7 @@ public class Drive extends SubsystemBase {
m_rightFrontMotor.set(TalonFXControlMode.Position, targetPos, DemandType.AuxPID, targetGyro);
m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
m_driveTrain.feedWatchdog();
//m_driveTrain.feedWatchdog();
}
/**
@@ -380,7 +385,7 @@ public class Drive extends SubsystemBase {
m_rightFrontMotor.set(TalonFXControlMode.Velocity, targetVel, DemandType.AuxPID, targetGyro);
m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
m_driveTrain.feedWatchdog();
//m_driveTrain.feedWatchdog();
}
/**
@@ -395,7 +400,7 @@ public class Drive extends SubsystemBase {
m_rightFrontMotor.set(TalonFXControlMode.MotionMagic, targetPos, DemandType.AuxPID, targetGyro);
m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
m_driveTrain.feedWatchdog();
//m_driveTrain.feedWatchdog();
}
/**
src/main/java/frc4388/robot/subsystems/Storage.java
+2 -2
View File
@@ -47,9 +47,9 @@ public class Storage extends SubsystemBase {
boolean beam_on = m_beamSensors[0].get();
if (beam_on) {
System.err.println("Beam on");
//System.err.println("Beam on");
} else {
System.err.println("Beam off");
//System.err.println("Beam off");
}
}