this.direction = direction;
this.maxTimeOut = maxTimeOut;
this.target = Math.abs(angle);
- this.zeroAngle = driveTrain.getAngle();
- this.gyroP = driveTrain.defaultGyroP;
- this.gyroI = driveTrain.defaultGyroI;
- this.gyroD = driveTrain.defaultGyroD;
+ this.gyroP = driveTrain.turnP;
+ this.gyroI = driveTrain.turnI;
+ this.gyroD = driveTrain.turnD;
this.gyroController = new PIDController(this.gyroP, this.gyroI, this.gyroD);
this.gyroController.setDoneRange(1);
protected void initialize() {
this.driveTrain.resetEncoders();
this.gyroController.setSetPoint(this.target);
+ this.zeroAngle = driveTrain.getAngle();
}
@Override
}
this.driveTrain.setMotorValues(leftDrive, rightDrive);
+ System.out.println(this.driveTrain.getAngle() - this.zeroAngle);
}
@Override