From a4ea999141ecc96ec49e762fdfb9756fad725185 Mon Sep 17 00:00:00 2001 From: Eric Sandoval Date: Thu, 9 Feb 2017 20:44:53 -0800 Subject: [PATCH] remove unnecessary code from autonInit and autonPeriodic, fix maxTimeOut bug, and changed setMaxOutput to use motorVal --- src/org/usfirst/frc/team3501/robot/Robot.java | 30 ++----------------- .../robot/commands/driving/DriveDistance.java | 5 ++-- 2 files changed, 5 insertions(+), 30 deletions(-) diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java index b910b29..b1e2a8c 100644 --- a/src/org/usfirst/frc/team3501/robot/Robot.java +++ b/src/org/usfirst/frc/team3501/robot/Robot.java @@ -1,5 +1,6 @@ package org.usfirst.frc.team3501.robot; +import org.usfirst.frc.team3501.robot.commands.driving.DriveDistance; import org.usfirst.frc.team3501.robot.subsystems.DriveTrain; import org.usfirst.frc.team3501.robot.subsystems.Intake; import org.usfirst.frc.team3501.robot.subsystems.Shooter; @@ -55,33 +56,6 @@ public class Robot extends IterativeRobot { 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.DRIVE_TARGET_DIST, 50); - 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(Constants.DriveTrain.P_Val, 0); - SmartDashboard.putNumber(Constants.DriveTrain.I_Val, 0); - SmartDashboard.putNumber(Constants.DriveTrain.D_Val, 0); - SmartDashboard.putNumber(Constants.DriveTrain.MOTOR_VAL, 0.5); - - 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(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, @@ -108,6 +82,8 @@ public class Robot extends IterativeRobot { driveTrain.getGyroController().setConstants(gyroP, gyroI, gyroD); + Scheduler.getInstance().add(new DriveDistance(Setpoint, Speed)); + } @Override diff --git a/src/org/usfirst/frc/team3501/robot/commands/driving/DriveDistance.java b/src/org/usfirst/frc/team3501/robot/commands/driving/DriveDistance.java index ccbe5fd..f6e11f4 100755 --- a/src/org/usfirst/frc/team3501/robot/commands/driving/DriveDistance.java +++ b/src/org/usfirst/frc/team3501/robot/commands/driving/DriveDistance.java @@ -16,7 +16,7 @@ import edu.wpi.first.wpilibj.command.Command; */ public class DriveDistance extends Command { private DriveTrain driveTrain = Robot.getDriveTrain(); - private double maxTimeOut; + private double maxTimeOut = 10; private double target; private double zeroAngle; private Preferences prefs; @@ -26,11 +26,10 @@ public class DriveDistance extends Command { public DriveDistance(double distance, double maxTimeOut) { requires(driveTrain); - this.maxTimeOut = maxTimeOut; this.target = distance; this.driveController = driveTrain.getDriveController(); this.driveController.setDoneRange(0.5); - this.driveController.setMaxOutput(1.0); + this.driveController.setMaxOutput(motorVal); this.driveController.setMinDoneCycles(5); } -- 2.30.2