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implement shooter pid
[3501/2017steamworks]
/
src
/
org
/
usfirst
/
frc
/
team3501
/
robot
/
commands
/
shooter
/
RunFlyWheelContinuous.java
diff --git
a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
index 047fad40885a8e2f5caad590004cab64493dc5bb..fa5426e90a21580e42d14c76e7f2d98ef9ac72ed 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
+++ b/
src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
@@
-26,7
+26,7
@@
public class RunFlyWheelContinuous extends Command {
private double wheelI;
private double wheelD;
private double target;
private double wheelI;
private double wheelD;
private double target;
- double shooterSpeed = 0;
+
private
double shooterSpeed = 0;
public RunFlyWheelContinuous() {
this.wheelP = this.shooter.wheelP;
public RunFlyWheelContinuous() {
this.wheelP = this.shooter.wheelP;
@@
-37,7
+37,7
@@
public class RunFlyWheelContinuous extends Command {
this.wheelController.setDoneRange(10);
this.wheelController.setMaxOutput(1.0);
this.wheelController.setMinDoneCycles(3);
this.wheelController.setDoneRange(10);
this.wheelController.setMaxOutput(1.0);
this.wheelController.setMinDoneCycles(3);
- this.target =
2700
;
+ this.target =
shooter.getCurrentShootingSpeed()
;
}
@Override
}
@Override
@@
-50,11
+50,7
@@
public class RunFlyWheelContinuous extends Command {
double calculatedShooterIncrement = this.wheelController
.calcPID(this.shooter.getShooterRPM());
shooterSpeed += calculatedShooterIncrement;
double calculatedShooterIncrement = this.wheelController
.calcPID(this.shooter.getShooterRPM());
shooterSpeed += calculatedShooterIncrement;
- if (shooterSpeed > 1.0)
- this.shooter.setFlyWheelMotorVal(1.0);
- else
- this.shooter.setFlyWheelMotorVal(shooterSpeed);
- // this.shooter.setFlyWheelMotorVal(this.shooter.CURRENT_SHOOTING_SPEED);
+ this.shooter.setFlyWheelMotorVal(shooterSpeed);
}
@Override
}
@Override