public void autonomousPeriodic() {
Scheduler.getInstance().run();
- DriveTrain.getDriveTrain().getDriveController().setConstants(p, i, d);
-
- 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);
-
- driveTrain.getDriveController().setName("Drive");
- driveTrain.getGyroController().setName("Gyro");
-
- driveTrain.getDriveController().setConstants(driveP, driveI, driveD);
-
- driveTrain.getGyroController().setConstants(gyroP, gyroI, gyroD);
-
- // new DriveDistance(SETPOINT, SPEED).start();
-
- // new TurnForAngle(0, Direction.FORWARD, 5).start();
}
@Override