shooter = Shooter.getShooter();
intake = Intake.getIntake();
- SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_P_Val, 0);
- SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_I_Val, 0);
- SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_D_Val, 0);
- SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_TARGET_DIST, 50);
- SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_MOTOR_VAL, 0.5);
+ 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_TARGET_DIST, 50);
+ SmartDashboard.putNumber(driveTrain.DRIVE_MOTOR_VAL, 0.5);
- SmartDashboard.putNumber(Constants.DriveTrain.GYRO_P_Val, 0);
- SmartDashboard.putNumber(Constants.DriveTrain.GYRO_I_Val, 0);
- SmartDashboard.putNumber(Constants.DriveTrain.GYRO_D_Val, 0);
+ SmartDashboard.putNumber(driveTrain.GYRO_P_Val, 0);
+ SmartDashboard.putNumber(driveTrain.GYRO_I_Val, 0);
+ SmartDashboard.putNumber(driveTrain.GYRO_D_Val, 0);
}
public void autonomousInit() {
driveTrain.setHighGear();
+<<<<<<< HEAD
SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_P_Val, 0);
SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_I_Val, 0);
SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_D_Val, 0);
SmartDashboard.putNumber(Constants.DriveTrain.MOTOR_VAL, 0.5);
SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_MOTOR_VAL, 0.5);
-
- double driveP = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_D_Val,
- Constants.DriveTrain.PID_ERROR);
- double driveI = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_I_Val,
- Constants.DriveTrain.PID_ERROR);
- double driveD = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_D_Val,
- Constants.DriveTrain.PID_ERROR);
-
- double gyroP = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_P_Val,
- Constants.DriveTrain.PID_ERROR);
- double gyroI = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_I_Val,
- Constants.DriveTrain.PID_ERROR);
- double gyroD = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_D_Val,
- Constants.DriveTrain.PID_ERROR);
-
- double Setpoint = SmartDashboard.getNumber(
- Constants.DriveTrain.DRIVE_TARGET_DIST, Constants.DriveTrain.PID_ERROR);
- double Speed = SmartDashboard.getNumber(
- Constants.DriveTrain.DRIVE_MOTOR_VAL, Constants.DriveTrain.PID_ERROR);
+=======
+ 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_TARGET_DIST, 50);
+
+ SmartDashboard.putNumber(driveTrain.DRIVE_MOTOR_VAL, 0.5);
+
+ SmartDashboard.putNumber(driveTrain.GYRO_P_Val, 0);
+ SmartDashboard.putNumber(driveTrain.GYRO_I_Val, 0);
+ SmartDashboard.putNumber(driveTrain.GYRO_D_Val, 0);
+>>>>>>> fix errors
+
+ double driveP = SmartDashboard.getNumber(driveTrain.DRIVE_D_Val,
+ driveTrain.PID_ERROR);
+ double driveI = SmartDashboard.getNumber(driveTrain.DRIVE_I_Val,
+ driveTrain.PID_ERROR);
+ double driveD = SmartDashboard.getNumber(driveTrain.DRIVE_D_Val,
+ driveTrain.PID_ERROR);
+
+ double gyroP = SmartDashboard.getNumber(driveTrain.GYRO_P_Val,
+ driveTrain.PID_ERROR);
+ double gyroI = SmartDashboard.getNumber(driveTrain.GYRO_I_Val,
+ driveTrain.PID_ERROR);
+ double gyroD = SmartDashboard.getNumber(driveTrain.GYRO_D_Val,
+ driveTrain.PID_ERROR);
+
+ double Setpoint = SmartDashboard.getNumber(driveTrain.DRIVE_TARGET_DIST,
+ driveTrain.PID_ERROR);
+ double Speed = SmartDashboard.getNumber(driveTrain.DRIVE_MOTOR_VAL,
+ driveTrain.PID_ERROR);
driveTrain.getDriveController().setName("Drive");
driveTrain.getGyroController().setName("Gyro");
driveController = new PIDController(driveP, driveI, driveD);
gyroController = new PIDController(turnP, turnI, turnD);
+ // PID TUNING
+
+ public static final String DRIVE_P_Val = "DriveP";
+ public static final String DRIVE_I_Val = "DriveI";
+ public static final String DRIVE_D_Val = "DriveD";
+ public static final String DRIVE_TARGET_DIST = "SET_DIST";
+ public static final String DRIVE_MOTOR_VAL = "SPEED";
+ public static final String GYRO_P_Val = "GyroP";
+ public static final String GYRO_I_Val = "GyroI";
+ public static final String GYRO_D_Val = "GyroD";
+ public static final String GYRO_TARGET_ANGLE = "SET_ANGLE";
+ public static final int PID_ERROR = -1;
+ public static final int TARGET_DISTANCE_ERROR = -1;
+
// MOTOR CONTROLLERS
frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);