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Invert Drive Train and Fix Ramprate

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Co-Authored-By: Keenan D. Buckley <hfocus@users.noreply.github.com>
This commit is contained in:
ryan123rudder
2020-03-07 10:08:36 -07:00
parent a0d5f2c8c6
commit dca9fffbff
2 changed files with 5 additions and 4 deletions
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src/main/java/frc4388/robot/Constants.java
+2 -2
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@@ -34,11 +34,11 @@ public final class Constants {
public static final boolean isRightMotorInverted = true; public static final boolean isRightMotorInverted = true;
public static final boolean isLeftMotorInverted = false; public static final boolean isLeftMotorInverted = false;
public static final boolean isRightArcadeInverted = false; public static final boolean isRightArcadeInverted = false;
public static final boolean isAuxPIDInverted = false; public static final boolean isAuxPIDInverted = true;
/* Drive Configuration */ /* Drive Configuration */
public static final int DRIVE_TIMEOUT_MS = 30; // Use for all motor config public static final int DRIVE_TIMEOUT_MS = 30; // Use for all motor config
public static final double OPEN_LOOP_RAMP_RATE = 0.1; // Seconds from 0 to full power on motor public static final double OPEN_LOOP_RAMP_RATE = 0.2; // Seconds from 0 to full power on motor
public static final double NEUTRAL_DEADBAND = 0.04; public static final double NEUTRAL_DEADBAND = 0.04;
public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG = public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG =
new SupplyCurrentLimitConfiguration(false, 60, 40, 2); new SupplyCurrentLimitConfiguration(false, 60, 40, 2);
src/main/java/frc4388/robot/subsystems/Drive.java
+3 -2
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@@ -269,7 +269,7 @@ public class Drive extends SubsystemBase {
m_rightFrontMotor.setInverted(DriveConstants.isRightMotorInverted); m_rightFrontMotor.setInverted(DriveConstants.isRightMotorInverted);
m_leftBackMotor.setInverted(DriveConstants.isLeftMotorInverted); m_leftBackMotor.setInverted(DriveConstants.isLeftMotorInverted);
m_rightBackMotor.setInverted(DriveConstants.isRightMotorInverted); m_rightBackMotor.setInverted(DriveConstants.isRightMotorInverted);
// m_driveTrain.setRightSideInverted(DriveConstants.isRightArcadeInverted); m_driveTrain.setRightSideInverted(DriveConstants.isRightArcadeInverted);
/* Set up music for drive train */ /* Set up music for drive train */
m_orchestra.addInstrument(m_leftBackMotor); m_orchestra.addInstrument(m_leftBackMotor);
@@ -340,7 +340,7 @@ public class Drive extends SubsystemBase {
* using the Differential Drive class to manage the two inputs * using the Differential Drive class to manage the two inputs
*/ */
public void driveWithInput(double move, double steer) { public void driveWithInput(double move, double steer) {
m_driveTrain.arcadeDrive(steer, move); m_driveTrain.arcadeDrive(move, steer);
m_leftBackMotor.follow(m_leftFrontMotor); m_leftBackMotor.follow(m_leftFrontMotor);
m_rightBackMotor.follow(m_rightFrontMotor); m_rightBackMotor.follow(m_rightFrontMotor);
} }
@@ -833,6 +833,7 @@ public class Drive extends SubsystemBase {
SmartDashboard.putData("Pigeon Gyro", m_pigeonGyro); SmartDashboard.putData("Pigeon Gyro", m_pigeonGyro);
SmartDashboard.putData("Drive Train", m_driveTrain); SmartDashboard.putData("Drive Train", m_driveTrain);
//SmartDashboard.putNumber("Left Front Output", m_leftFrontMotor.get()); //SmartDashboard.putNumber("Left Front Output", m_leftFrontMotor.get());
//SmartDashboard.putNumber("Right Front Output", m_rightFrontMotor.get()); //SmartDashboard.putNumber("Right Front Output", m_rightFrontMotor.get());
//SmartDashboard.putNumber("Left Back Output", m_leftBackMotor.get()); //SmartDashboard.putNumber("Left Back Output", m_leftBackMotor.get());