public void autonomousInit() {
driveTrain.setHighGear();
- double driveP = SmartDashboard.getNumber(driveTrain.DRIVE_D_Val,
+ double driveP = SmartDashboard.getNumber(driveTrain.DRIVE_P_Val,
driveTrain.PID_ERROR);
double driveI = SmartDashboard.getNumber(driveTrain.DRIVE_I_Val,
driveTrain.PID_ERROR);
*/
public class DriveDistance extends Command {
private DriveTrain driveTrain = Robot.getDriveTrain();
- private double maxTimeOut = 10;
+ private double maxTimeOut;
private double target;
private double zeroAngle;
private Preferences prefs;
public DriveDistance(double distance, double maxTimeOut) {
requires(driveTrain);
this.target = distance;
+ this.maxTimeOut = maxTimeOut;
driveStraightGyroP = SmartDashboard.getNumber(driveTrain.DRIVE_GYRO_P_Val,
driveTrain.PID_ERROR);
this.driveController = driveTrain.getDriveController();
this.driveController.setDoneRange(0.5);
- this.driveController.setMaxOutput(1.1);
+ this.driveController.setMaxOutput(1.0);
this.driveController.setMinDoneCycles(5);
}