shooter = Shooter.getShooter();
intake = Intake.getIntake();
- SmartDashboard.putNumber(driveTrain.DRIVE_P_Val, 0);
- SmartDashboard.putNumber(driveTrain.DRIVE_I_Val, 0);
- SmartDashboard.putNumber(driveTrain.DRIVE_D_Val, 0);
- SmartDashboard.putNumber(driveTrain.DRIVE_GYRO_P_Val, 0);
+ SmartDashboard.putNumber(driveTrain.DRIVE_P_Val, 0.006);
+ SmartDashboard.putNumber(driveTrain.DRIVE_I_Val, 0.0011);
+ SmartDashboard.putNumber(driveTrain.DRIVE_D_Val, -0.002);
+ SmartDashboard.putNumber(driveTrain.DRIVE_GYRO_P_Val, 0.01);
SmartDashboard.putNumber(driveTrain.DRIVE_TARGET_DIST, 50);
SmartDashboard.putNumber(driveTrain.MAX_TIME_OUT, 10);
// both set to high gear
@Override
public void autonomousInit() {
+ System.out.println("AUTON INIT");
driveTrain.setHighGear();
double driveP = SmartDashboard.getNumber(driveTrain.DRIVE_P_Val,
@Override
public void autonomousPeriodic() {
Scheduler.getInstance().run();
-
+ SmartDashboard.putNumber("angle", driveTrain.getAngle());
}
@Override