Autonomous improvements #37
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This branch has a whole bunch of previous commits tacked to it as well for some reason |
team6101
commented
Mar 7, 2024
Comment on lines
+45
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+61
| this.gyro = Robot.getGyroscope(); | ||
| rotationPID = | ||
| new ProfiledPIDController( | ||
| Constants.ROTATION_GAINS.P, | ||
| Constants.ROTATION_GAINS.I, | ||
| Constants.ROTATION_GAINS.D, | ||
| new Constraints(1, 1) | ||
| ); | ||
| rotationPID.setGoal(targetTurnDegrees); | ||
| rotationPID.reset(0); | ||
| if (targetTurnDegrees > 0) { | ||
| turnDirection = TurnDirection.RIGHT; | ||
| } else { | ||
| turnDirection = TurnDirection.LEFT; | ||
| } | ||
| System.out.println("We will be turning " + turnDirection); | ||
| SmartDashboard.putNumber("target degree", targetTurnDegrees); |
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