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updated pot values, added basic gyro code

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This commit is contained in:
Adam Long 2016-09-26 19:38:18 +00:00
parent 54ae1193cd
commit 8d30a24e89
1 changed files with 9 additions and 0 deletions
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src/org/usfirst/frc/team2059/robot/subsystems/DriveBase.java
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@ -4,6 +4,7 @@ import org.usfirst.frc.team2059.robot.commands.drivetrain.Drive;
import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.PIDController;
import edu.wpi.first.wpilibj.PIDOutput;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.CANTalon;
public class DriveBase extends Subsystem {
@ -12,6 +13,8 @@ public class DriveBase extends Subsystem {
CANTalon rightMotorOne = new CANTalon(RobotMap.driveRightMotorOne);
CANTalon rightMotorTwo = new CANTalon(RobotMap.driveRightMotorTwo);
Encoder leftEncoder = new Encoder(RobotMap.driveLeftEncoderA, RobotMap.driveLeftEncoderB, false, Encoder.EncodingType.k2X);
AnalogGyro gyro = new AnalogGyro(RobotMap.gyro);
PIDController leftEncoderController = new PIDController(0.02, 0.002, 0.017, leftEncoder, new MotorsPIDOutput());
public void initDefaultCommand() {
setDefaultCommand(new Drive());
@ -28,6 +31,12 @@ public class DriveBase extends Subsystem {
rightMotorOne.set((y + (x + z)) * sensitivity);
rightMotorTwo.set((y + (x + z)) * sensitivity);
}
public void driveStraight(double y, double correction){
leftMotorOne.set((-y + gyro.getAngle()*correction));
leftMotorTwo.set((-y + gyro.getAngle()*correction));
rightMotorOne.set((y + gyro.getAngle()*correction));
rightMotorTwo.set((y + gyro.getAngle()*correction));
}
public void pidDrive(double setpoint) {
leftEncoder.reset();
leftEncoderController.enable();