Team4388/RiseOfRidgebotics2020
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more work done (getting closer)

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This commit is contained in:
Keenan D. Buckley
2020-01-30 16:44:05 -07:00
parent 9b6c6ec658
commit e96ccc527a
5 changed files with 19 additions and 23 deletions
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src/main/java/frc4388/robot/commands/DriveAtVelocityPID.java
+4 -1
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@@ -8,6 +8,7 @@
package frc4388.robot.commands;
import com.ctre.phoenix.motorcontrol.FollowerType;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandBase;
@@ -40,12 +41,13 @@ public class DriveAtVelocityPID extends CommandBase {
m_leftTarget = m_targetVel;
m_rightTarget = m_targetVel;
m_targetGyro = m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN);
m_drive.setDriveTrainNeutralMode(NeutralMode.Coast);
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
m_drive.runVelocityPID(m_targetVel, 0);
m_drive.runVelocityPID(m_targetVel, m_targetGyro+1000);
SmartDashboard.putNumber("Input Target Velocity", m_copiedTargetVel);
SmartDashboard.putNumber("Output Target Velocity", m_targetVel);
@@ -58,6 +60,7 @@ public class DriveAtVelocityPID extends CommandBase {
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
m_drive.setDriveTrainNeutralMode(NeutralMode.Brake);
}
// Returns true when the command should end.