From 51612479c59ece4a501ae47455eac9995e7fbd6d Mon Sep 17 00:00:00 2001 From: EvanYap Date: Sat, 4 Feb 2017 14:42:45 -0800 Subject: [PATCH] update robot.java with the new constants --- src/org/usfirst/frc/team3501/robot/Robot.java | 19 +++++++++++-------- 1 file changed, 11 insertions(+), 8 deletions(-) diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java index afe158e..f292376 100644 --- a/src/org/usfirst/frc/team3501/robot/Robot.java +++ b/src/org/usfirst/frc/team3501/robot/Robot.java @@ -45,11 +45,11 @@ public class Robot extends IterativeRobot { 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); } @@ -57,13 +57,16 @@ public class Robot extends IterativeRobot { 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); -- 2.30.2