Fixed move PID and jerky teleop when not using velocity PID.

We were setting the differential drive's maxOutput to 204 even when not
using velocity PID. This caused the jerkiness and the massive move PID
overshoot.

Also fixed the NullReferenceException in PIDMove.end() caused by
AutoUtils.state not being initialized during teleop.

Author: DriverStationComputer

Robot2018/src/org/usfirst/frc/team199/Robot2018/Robot.java

@@ -196,6 +196,8 @@ public void autonomousPeriodic() {
 	@Override
 	public void teleopInit() {
 		System.out.println("In teleopInit()");
+		dt.resetAHRS();
+		AutoUtils.state = new State(0, 0, 0);
 		// This makes sure that the autonomous stops running when
 		// teleop starts running. If you want the autonomous to
 		// continue until interrupted by another command, remove

Robot2018/src/org/usfirst/frc/team199/Robot2018/subsystems/Drivetrain.java

@@ -70,10 +70,12 @@ public Drivetrain() {
 
 		if (Robot.getBool("Teleop velocity PID", false)) {
 			robotDrive = new DifferentialDrive(leftVelocityController, rightVelocityController);
+			robotDrive.setMaxOutput(Robot.getConst("Max High Speed", 204));
 		} else {
 			robotDrive = new DifferentialDrive(dtLeft, dtRight);
+
 		}
-		robotDrive.setMaxOutput(Robot.getConst("Max High Speed", 204));
+
 	}
 
 	@Override

shuffleboard.json

@@ -1,5 +1,5 @@
 {
-  "dividerPosition": 0.28519061583577715,
+  "dividerPosition": 0.28486646884273,
   "tabPane": [
     {
       "title": "PID Testing",
@@ -87,7 +87,7 @@
             "content": {
               "_type": "Graph",
               "_source0": "network_table:///SmartDashboard/Drivetrain/Left VPID Targ",
-              "_title": "/SmartDashboard/Drivetrain/Left VPID Targ",
+              "_title": "SmartDashboard/Drivetrain/Left VPID Targ",
               "Visible time": 30.0,
               "SmartDashboard/Drivetrain/Left VPID Targ visible": true
             }
@@ -100,7 +100,7 @@
             "content": {
               "_type": "Graph",
               "_source0": "network_table:///SmartDashboard/Drivetrain/Right VPID Targ",
-              "_title": "/SmartDashboard/Drivetrain/Right VPID Targ",
+              "_title": "SmartDashboard/Drivetrain/Right VPID Targ",
               "Visible time": 30.0,
               "SmartDashboard/Drivetrain/Right VPID Targ visible": true
             }
@@ -262,6 +262,17 @@
               "_source0": "network_table:///Preferences/Bool/Square Joystick Values",
               "_title": "Preferences/Bool/Square Joystick Values"
             }
+          },
+          "1,2": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Toggle Switch",
+              "_source0": "network_table:///Preferences/Bool/Teleop velocity PID",
+              "_title": "Preferences/Bool/Teleop velocity PID"
+            }
           }
         }
       }
@@ -276,17 +287,6 @@
         "hgap": 16.0,
         "vgap": 16.0,
         "tiles": {
-          "0,2": {
-            "size": [
-              1,
-              1
-            ],
-            "content": {
-              "_type": "Text View",
-              "_source0": "network_table:///SmartDashboard/Const/Move Targ",
-              "_title": "SmartDashboard/Const/Move Targ"
-            }
-          },
           "3,0": {
             "size": [
               2,
@@ -385,7 +385,7 @@
             "content": {
               "_type": "Graph",
               "_source0": "network_table:///SmartDashboard/Drivetrain/Left VPID Targ",
-              "_title": "/SmartDashboard/Drivetrain/Left VPID Targ",
+              "_title": "SmartDashboard/Drivetrain/Left VPID Targ",
               "Visible time": 10.0,
               "SmartDashboard/Drivetrain/Left VPID Targ visible": true
             }
@@ -398,7 +398,7 @@
             "content": {
               "_type": "Graph",
               "_source0": "network_table:///SmartDashboard/Drivetrain/Right VPID Targ",
-              "_title": "/SmartDashboard/Drivetrain/Right VPID Targ",
+              "_title": "SmartDashboard/Drivetrain/Right VPID Targ",
               "Visible time": 10.0,
               "SmartDashboard/Drivetrain/Right VPID Targ visible": true
             }
@@ -424,6 +424,17 @@
               "_source0": "network_table:///SmartDashboard/Move PID",
               "_title": "SmartDashboard/Move PID"
             }
+          },
+          "0,2": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///Preferences/Const/Move Targ",
+              "_title": "Preferences/Const/Move Targ"
+            }
           }
         }
       }