robotDrive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
- lidar = new Lidar(I2C.Port.kOnboard);
-
+ lidar = new Lidar(I2C.Port.kMXP);
leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
Constants.DriveTrain.ENCODER_LEFT_B, false, EncodingType.k4X);
rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
/*
* Method is a required method that the PID Subsystem uses to return the
* calculated PID value to the driver
- *
+ *
* @param Gives the user the output from the PID algorithm that is calculated
* internally
- *
+ *
* Body: Uses the output, does some filtering and drives the robot
*/
@Override
}
/*
- * Checks the drive mode <<<<<<< 9728080f491e9fb09795494349dba1297f447c0f
- *
- * @return the current state of the robot in each state Average distance from
- * both sides of tank drive for Encoder Mode Angle from the gyro in GYRO_MODE
- * =======
- *
+ * Checks the drive mode
+ *
* @return the current state of the robot in each state Average distance from
* both sides of tank drive for Encoder Mode Angle from the gyro in GYRO_MODE
- * >>>>>>> Move all constants in DeadReckoning to Auton class because it makes
- * more sense
*/
private double sensorFeedback() {
if (DRIVE_MODE == Constants.DriveTrain.ENCODER_MODE)
/*
* constrains the distance to within -100 and 100 since we aren't going to
* drive more than 100 inches
- *
+ *
* Configure Encoder PID
- *
+ *
* Sets the setpoint to the PID subsystem
*/
public void driveDistance(double dist, double maxTimeOut) {
/*
* Turning method that should be used repeatedly in a command
- *
+ *
* First constrains the angle to within -360 and 360 since that is as much as
* we need to turn
- *
+ *
* Configures Gyro PID and sets the setpoint as an angle
*/
public void turnAngle(double angle) {
rightGearPiston.set(gear);
}
- public void toggleTimeDeadReckoning() {
- Constants.Auton.isUsingTimeToPassDefense = !Constants.Auton.isUsingTimeToPassDefense;
- }
}