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Add basic getRate() functionallity for Pigeons

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This commit is contained in:
Keenan D. Buckley
2020-03-27 12:32:46 -06:00
parent ecff989745
commit 4271a66d1a
3 changed files with 50 additions and 38 deletions
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src/main/java/frc4388/robot/subsystems/Drive.java
+4 -4
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@@ -11,9 +11,7 @@ import com.ctre.phoenix.motorcontrol.InvertType;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import com.ctre.phoenix.sensors.PigeonIMU;
import com.kauailabs.navx.frc.AHRS;
import edu.wpi.first.wpilibj.GyroBase;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -65,7 +63,9 @@ public class Drive extends SubsystemBase {
@Override
public void periodic() {
if (RobotTime.frameNumber % DriveConstants.SMARTDASHBOARD_UPDATE_FRAME == 0) {
m_gyro.updatePigeonDeltas();
if (RobotTime.m_frameNumber % DriveConstants.SMARTDASHBOARD_UPDATE_FRAME == 0) {
updateSmartDashboard();
}
}
@@ -80,7 +80,7 @@ public class Drive extends SubsystemBase {
private void updateSmartDashboard() {
// Examples of the functionality of RobotGyro
SmartDashboard.putBoolean("Is Gyro a Pigeon?", m_gyro.isGyroAPigeon);
SmartDashboard.putBoolean("Is Gyro a Pigeon?", m_gyro.m_isGyroAPigeon);
SmartDashboard.putNumber("Turn Rate", m_gyro.getRate());
SmartDashboard.putNumber("Gyro Pitch", m_gyro.getPitch());
SmartDashboard.putData(m_gyro);