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Updated TankDriveVelocity, WORKING (but maybe small problem with timing?)

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This commit is contained in:
Aarav Shah
2021-03-05 15:31:57 -07:00
parent 0f8bda6c0a
commit e4b1ea3ae5
2 changed files with 9 additions and 5 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+2 -1
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@@ -40,6 +40,7 @@ import frc4388.robot.commands.auto.EightBallAutoMiddle;
import frc4388.robot.commands.auto.FiveBallAutoMiddle;
import frc4388.robot.commands.auto.SixBallAutoMiddle;
import frc4388.robot.commands.auto.Slalom;
import frc4388.robot.commands.auto.TankDriveVelocity;
import frc4388.robot.commands.auto.TenBallAutoMiddle;
import frc4388.robot.commands.InterruptSubystem;
import frc4388.robot.commands.auto.AutoPath1FromCenter;
@@ -191,7 +192,7 @@ public class RobotContainer {
/* Test Buttons */
// A driver test button
new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
.whenPressed(new DriveStraightAtVelocityPID(m_robotDrive, 1000));
.whenPressed(new TankDriveVelocity(m_robotDrive, 5000, 5000, 2));
// B driver test button
new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
src/main/java/frc4388/robot/subsystems/Drive.java
+7 -4
View File
@@ -436,8 +436,8 @@ public class Drive extends SubsystemBase {
/**
* Controls the left and right sides of the drive with velocity targets.
*
* @param leftSpeed the commanded left speed
* @param rightSpeed the commanded right speed
* @param leftSpeed the commanded left speed (currently measured in ticks/100 ms)
* @param rightSpeed the commanded right speed (currently measured in ticks/100 ms)
*/
public void tankDriveVelocity(double leftSpeed, double rightSpeed) {
// DifferentialDriveWheelSpeeds wheelSpeeds = new
@@ -454,8 +454,11 @@ public class Drive extends SubsystemBase {
// m_currentAngleYaw+(360));
// double targetGyro = (m_kinematicsTargetAngle / 360) *
// DriveConstants.TICKS_PER_GYRO_REV;
double moveVelLeft = inchesToTicks(metersToInches(leftSpeed)) / DriveConstants.SECONDS_TO_TICK_TIME;
double moveVelRight = inchesToTicks(metersToInches(rightSpeed)) / DriveConstants.SECONDS_TO_TICK_TIME;
//double moveVelLeft = inchesToTicks(metersToInches(leftSpeed)) / DriveConstants.SECONDS_TO_TICK_TIME;
//double moveVelRight = inchesToTicks(metersToInches(rightSpeed)) / DriveConstants.SECONDS_TO_TICK_TIME;
double moveVelLeft = leftSpeed;
double moveVelRight = rightSpeed;
// SmartDashboard.putNumber("Move Vel Left", moveVelLeft);
// SmartDashboard.putNumber("Move Vel Right", moveVelRight);