public void autonomousPeriodic() {
Scheduler.getInstance().run();
- double P = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_P_Val,
+ double P = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_D_Val,
Constants.DriveTrain.PID_ERROR);
double I = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_I_Val,
Constants.DriveTrain.PID_ERROR);
Constants.DriveTrain.PID_ERROR);
double SPEED = SmartDashboard.getNumber(Constants.DriveTrain.MOTOR_VAL, 0);
- double SETPOINT = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_TARGET_DIST,
- Constants.DriveTrain.TARGET_DISTANCE);
+ double SETPOINT = SmartDashboard.getNumber(
+ Constants.DriveTrain.DRIVE_TARGET_DIST,
+ Constants.DriveTrain.TARGET_DISTANCE_ERROR);
DriveTrain.getDriveTrain().getDriveController().setConstants(P, I, D);