From 40d6916713297386c73b7a9234f21eeab1d28ea1 Mon Sep 17 00:00:00 2001 From: Michael Wang Date: Thu, 9 Feb 2017 19:54:39 -0800 Subject: [PATCH] fix errors --- .../frc/team3501/robot/subsystems/DriveTrain.java | 14 ++++++++++++++ 1 file changed, 14 insertions(+) diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java index 231ebf5..8809ed6 100644 --- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java +++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java @@ -61,6 +61,20 @@ public class DriveTrain extends Subsystem { 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); -- 2.30.2