From d402a31a1615f2a0bcfe3243ce1a25cf401cf92e Mon Sep 17 00:00:00 2001 From: "Keenan D. Buckley" Date: Wed, 12 Feb 2020 20:28:55 -0700 Subject: [PATCH] Update PID method documentation --- src/main/java/frc4388/robot/subsystems/Drive.java | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java index 9c45d3d..c898080 100644 --- a/src/main/java/frc4388/robot/subsystems/Drive.java +++ b/src/main/java/frc4388/robot/subsystems/Drive.java @@ -329,12 +329,18 @@ public class Drive extends SubsystemBase { } /** - * Add your docs here. + * Runs percent output control on the moving and steering of the drive train, + * using the Differential Drive class to manage the two inputs */ public void driveWithInput(double move, double steer){ m_driveTrain.arcadeDrive(move, steer); } + /** + * Runs percent output control on the drive train while using an AUX PID for rotation + * @param targetPos The position to drive to in units + * @param targetGyro The angle to drive at in units + */ public void driveWithInputAux(double move, double targetGyro) { m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN); @@ -374,7 +380,7 @@ public class Drive extends SubsystemBase { } /** - * Runs motion magic PID while driving straight (has not been tested) + * Runs motion magic PID while driving straight * @param targetPos The position to drive to in units * @param targetGyro The angle to drive at in units */