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change some names
[3501/2017steamworks]
/
src
/
org
/
usfirst
/
frc
/
team3501
/
robot
/
subsystems
/
DriveTrain.java
diff --git
a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index 645e345b54a692f62d154141a6b2c64e8a0b7556..f7c35a9108cdf161ac0c3597bf85ca350e63073d 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/
src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@
-14,9
+14,8
@@
import edu.wpi.first.wpilibj.command.Subsystem;
public class DriveTrain extends Subsystem {
public static double driveP = 0.006, driveI = 0.001, driveD = -0.002;
public class DriveTrain extends Subsystem {
public static double driveP = 0.006, driveI = 0.001, driveD = -0.002;
- public static double defaultGyroP = 0.004, defaultGyroI = 0.0013,
- defaultGyroD = -0.005;
- private double gyroZero = 0;
+ public static double turnP = 0.004, turnI = 0.0013, turnD = -0.005;
+ public static double driveStraightGyroP = 0.01;
public static final double WHEEL_DIAMETER = 6; // inches
public static final int ENCODER_PULSES_PER_REVOLUTION = 256;
public static final double WHEEL_DIAMETER = 6; // inches
public static final int ENCODER_PULSES_PER_REVOLUTION = 256;
@@
-106,11
+105,9
@@
public class DriveTrain extends Subsystem {
}
public void printEncoderOutput() {
}
public void printEncoderOutput() {
- // System.out.println("left: " + getLeftEncoderDistance());
- // System.out.println("right: " + getRightEncoderDistance());
- System.out.println(getAvgEncoderDistance());
System.out.println("left: " + getLeftEncoderDistance());
System.out.println("right: " + getRightEncoderDistance());
System.out.println("left: " + getLeftEncoderDistance());
System.out.println("right: " + getRightEncoderDistance());
+ // System.out.println(getAvgEncoderDistance());
}
public double getAvgEncoderDistance() {
}
public double getAvgEncoderDistance() {
@@
-136,17
+133,13
@@
public class DriveTrain extends Subsystem {
// ------Gyro------//
public double getAngle() {
// ------Gyro------//
public double getAngle() {
- return this.imu.getAngle()
- this.gyroZero
;
+ return this.imu.getAngle();
}
public void resetGyro() {
this.imu.reset();
}
}
public void resetGyro() {
this.imu.reset();
}
- public double getZeroAngle() {
- return this.gyroZero;
- }
-
/*
* @return a value that is the current setpoint for the piston kReverse or
* KForward
/*
* @return a value that is the current setpoint for the piston kReverse or
* KForward