public void autonomousInit() {
driveTrain.setHighGear();
- SmartDashboard.putNumber(Constants.DriveTrain.P_Val, -1);
- SmartDashboard.putNumber(Constants.DriveTrain.I_Val, -1);
- SmartDashboard.putNumber(Constants.DriveTrain.D_Val, -1);
+ SmartDashboard.putNumber(Constants.DriveTrain.P_Val, 0);
+ SmartDashboard.putNumber(Constants.DriveTrain.I_Val, 0);
+ SmartDashboard.putNumber(Constants.DriveTrain.D_Val, 0);
SmartDashboard.putNumber(Constants.DriveTrain.TARGET_DIST, 50);
- SmartDashboard.putNumber(Constants.DriveTrain.MOTOR_VAL, 0);
+ SmartDashboard.putNumber(Constants.DriveTrain.MOTOR_VAL, 0.5);
}
public void autonomousPeriodic() {
Scheduler.getInstance().run();
- double P = SmartDashboard.getNumber(Constants.DriveTrain.P_Val, -1);
- double I = SmartDashboard.getNumber(Constants.DriveTrain.I_Val, -1);
- double D = SmartDashboard.getNumber(Constants.DriveTrain.D_Val, -1);
+ double P = SmartDashboard.getNumber(Constants.DriveTrain.P_Val,
+ Constants.DriveTrain.PID_ERROR);
+ double I = SmartDashboard.getNumber(Constants.DriveTrain.I_Val,
+ Constants.DriveTrain.PID_ERROR);
+ double D = SmartDashboard.getNumber(Constants.DriveTrain.D_Val,
+ Constants.DriveTrain.PID_ERROR);
double SPEED = SmartDashboard.getNumber(Constants.DriveTrain.MOTOR_VAL, 0);
double SETPOINT = SmartDashboard.getNumber(Constants.DriveTrain.TARGET_DIST,
- -1);
+ Constants.DriveTrain.TARGET_DISTANCE);
DriveTrain.getDriveTrain().getDriveController().setConstants(P, I, D);