Drivetrain code #13
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Drivetrain code #13
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added 9 commits
January 24, 2017 19:00
MiloDavis
suggested changes
Jan 25, 2017
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| public class Drivetrain extends Subsystem { | ||
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| /** | ||
| * Drivetrain four wheel drive. |
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Drivetrain subsystem, configured for 4 wheel drive
| // empty | ||
| this.setPercentDrive(); | ||
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| this.holdHeading.setInputRange(-180.0, 180.0); |
| this.holdHeading.setAbsoluteTolerance(5.0); | ||
| this.holdHeading.setContinuous(); | ||
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| this.turnToAngle.setAbsoluteTolerance(10.0); |
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This needs to be a constant, and we need an explanation comment
| this.frontLeft.reverseOutput(true); | ||
| this.frontLeft.reverseSensor(true); | ||
| this.frontLeft.setPID(0.02, 0.0, 0.08); | ||
| this.frontLeft.configNominalOutputVoltage(+0.0f, -0.0f); |
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I think there's an automatic coercion from double to float
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| this.turnToAngle.setAbsoluteTolerance(10.0); | ||
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| this.frontLeft.changeControlMode(TalonControlMode.PercentVbus); |
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Need comment explaining this
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| @Override | ||
| public double pidGet() { | ||
| // TODO Auto-generated method stub |
| return Robot.DRIVETRAIN.frontRight.getPosition(); | ||
| } | ||
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| @Override |
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Check if method is abstract and remove auto generated comment
| } | ||
| } | ||
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| private class HoldHeadingOutput implements PIDOutput { |
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This class should not change the outer class
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| @Override | ||
| public void pidWrite(double power) { | ||
| angle = power; |
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This class should not change the outer class
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| @Override | ||
| public void pidWrite(double power) { | ||
| distance = power; |
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This class should not change the outer class
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Just Drivetrain Things: