From afe0c8989fe813c7c2e1dd5de2ba68efd3e72723 Mon Sep 17 00:00:00 2001 From: Eric Sandoval Date: Fri, 10 Feb 2017 20:37:45 -0800 Subject: [PATCH] change speed constant to be used for maxTimeOut --- src/org/usfirst/frc/team3501/robot/Robot.java | 8 ++++---- .../team3501/robot/commands/driving/DriveDistance.java | 2 +- .../usfirst/frc/team3501/robot/subsystems/DriveTrain.java | 2 +- 3 files changed, 6 insertions(+), 6 deletions(-) diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java index 6f313c4..0d73631 100644 --- a/src/org/usfirst/frc/team3501/robot/Robot.java +++ b/src/org/usfirst/frc/team3501/robot/Robot.java @@ -26,7 +26,7 @@ public class Robot extends IterativeRobot { 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.MAX_TIME_OUT, 10); SmartDashboard.putNumber(driveTrain.GYRO_P_Val, 0); SmartDashboard.putNumber(driveTrain.GYRO_I_Val, 0); @@ -70,9 +70,9 @@ public class Robot extends IterativeRobot { double gyroD = SmartDashboard.getNumber(driveTrain.GYRO_D_Val, driveTrain.PID_ERROR); - double Setpoint = SmartDashboard.getNumber(driveTrain.DRIVE_TARGET_DIST, + double setpoint = SmartDashboard.getNumber(driveTrain.DRIVE_TARGET_DIST, driveTrain.PID_ERROR); - double Speed = SmartDashboard.getNumber(driveTrain.DRIVE_MOTOR_VAL, + double maxTimeOut = SmartDashboard.getNumber(driveTrain.MAX_TIME_OUT, driveTrain.PID_ERROR); driveTrain.getDriveController().setName("Drive"); @@ -81,7 +81,7 @@ public class Robot extends IterativeRobot { driveTrain.getGyroController().setConstants(gyroP, gyroI, gyroD); - Scheduler.getInstance().add(new DriveDistance(Setpoint, Speed)); + Scheduler.getInstance().add(new DriveDistance(setpoint, maxTimeOut)); } @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 bd923a2..c60b877 100755 --- a/src/org/usfirst/frc/team3501/robot/commands/driving/DriveDistance.java +++ b/src/org/usfirst/frc/team3501/robot/commands/driving/DriveDistance.java @@ -30,7 +30,7 @@ public class DriveDistance extends Command { this.driveController = driveTrain.getDriveController(); this.driveController.setDoneRange(0.5); - this.driveController.setMaxOutput(1.1); + this.driveController.setMaxOutput(1); this.driveController.setMinDoneCycles(5); } diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java index d124775..6d09477 100644 --- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java +++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java @@ -22,7 +22,7 @@ public class DriveTrain extends Subsystem { 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 MAX_TIME_OUT = "MaxTimeOut"; public static final String GYRO_P_Val = "GyroP"; public static final String GYRO_I_Val = "GyroI"; public static final String GYRO_D_Val = "GyroD"; -- 2.30.2