Switch to Spark Max + Encoders + Built in PID for auto #2
Conversation
these need to be changed later
| @@ -0,0 +1,6 @@ | |||
| { | |||
| "download": { | |||
| "localDir": "C:\\Users\\BeachBots\\Downloads", | |||
There was a problem hiding this comment.
What is this for? Can we avoid hard paths?
There was a problem hiding this comment.
this i can just git ignore, it was autogenerated.
There was a problem hiding this comment.
but its good to keap because team id so i think we could remove if needed
| if (!m_distanceController.atGoal() || !m_turnController.atGoal()) { | ||
| this.tankDrive(leftStickValue, rightStickValue); | ||
| public void driveToRelativePosition(double targetPosition) { | ||
| if (targetPosition < 0.1) { // less then 0.1 meters, do nothing, pervents feedback loop |
There was a problem hiding this comment.
shouldn't this be targetPosition > 0.1?
Also what is the harm? Since all we're doing here is passing it off to driveToPosition shouldn't all the accuracy checks be done there?
There was a problem hiding this comment.
this is like a safer interface i guess
| double rightStickValue = distanceThrottleRate - turnRotateToAngleRate; | ||
| if (!m_distanceController.atGoal() || !m_turnController.atGoal()) { | ||
| this.tankDrive(leftStickValue, rightStickValue); | ||
| public void driveToRelativePosition(double targetPosition) { |
There was a problem hiding this comment.
i removed the drive and turn, but this is in case we need to add it back or do something similar as it allows us to easily interface with the position based pid on the neo motors.
No description provided.