Team4388/RiseOfRidgebotics2020
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Merge branch 'add-ramsete-controller-and-trajectories' of https://github.com/Team4388/RiseOfRidgebotics2020 into add-ramsete-controller-and-trajectories

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This commit is contained in:
Keenan D. Buckley
2020-02-19 19:23:18 -07:00
parent 11f7f2272e 0d13b05dda
commit dda41a913d
2 changed files with 11 additions and 6 deletions
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src/main/java/frc4388/robot/subsystems/Drive.java
+8 -3
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@@ -66,7 +66,7 @@ public class Drive extends SubsystemBase {
public DoubleSolenoid m_speedShift;
public DoubleSolenoid m_coolFalcon;
public int m_currentTimeSec = (int)(System.currentTimeMillis() * 1000);
public int m_currentTimeSec = (int)(System.currentTimeMillis() / 1000);
public long m_lastTime, m_deltaTime; //in milliseconds
@@ -84,7 +84,8 @@ public class Drive extends SubsystemBase {
m_pigeon.configFactoryDefault();
resetGyroYaw();
m_odometry = new DifferentialDriveOdometry(Rotation2d.fromDegrees(getHeading()), new Pose2d(0, 0, new Rotation2d()));
m_odometry = new DifferentialDriveOdometry( Rotation2d.fromDegrees(getHeading()),
new Pose2d(0, 0, new Rotation2d()) );
m_speedShift = new DoubleSolenoid(7,0,1);
m_coolFalcon = new DoubleSolenoid(7,3,2);
@@ -271,11 +272,15 @@ public class Drive extends SubsystemBase {
@Override
public void periodic() {
m_currentTimeSec = (int)(System.currentTimeMillis() / 1000);
SmartDashboard.putNumber("Time Seconds", System.currentTimeMillis());
if (m_currentTimeSec % 10 == 0) {
coolFalcon(true);
SmartDashboard.putBoolean("Solenoid", true);
} else if ((m_currentTimeSec - 2) % 10 == 0) {
coolFalcon(false);
SmartDashboard.putBoolean("Solenoid", false);
}
m_deltaTime = System.currentTimeMillis() - m_lastTime;
@@ -606,7 +611,7 @@ public class Drive extends SubsystemBase {
* @param ticks The value in ticks to convert
* @return The converted value in inches
*/
public double ticksToInches(double ticks) {
public double ticksToInches(double ticks) {
return ticks * DriveConstants.INCHES_PER_TICK;
}