Team4388/RiseOfRidgebotics2020
1
0
Fork 0
mirror of https://github.com/Team4388/RiseOfRidgebotics2020.git synced 2026-06-09 00:38:00 -06:00
Code Issues Packages Projects Releases Wiki Activity

Update PID method documentation

Browse Source
This commit is contained in:
Keenan D. Buckley
2020-02-12 20:28:55 -07:00
parent 7e250b04ee
commit d402a31a16
1 changed files with 8 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/subsystems/Drive.java
+8 -2
View File
@@ -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
*/