Merge pull request #68 from DriverStationComputer/master

brettle · web-flow · commit a9fd4361eef3 · 2018-02-18T12:05:18.000-08:00
deleted double moveController
diff --git a/Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/PIDMove.java b/Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/PIDMove.java
@@ -43,11 +43,9 @@ public PIDMove(double targ, DrivetrainInterface dt, SmartDashboardInterface sd,
 		if (Robot.dt != null) {
 			requires(Robot.dt);
 		}
-		moveController = new PIDController(sd.getConst("MovekP", 1), sd.getConst("MovekI", 0), sd.getConst("MovekD", 0),
-				avg, this);
 		double kf = 1 / (dt.getCurrentMaxSpeed() * sd.getConst("Default PID Update Time", 0.05));
-		moveController = new PIDController(sd.getConst("MovekP", 1), sd.getConst("MovekI", 0), sd.getConst("MovekD", 0),
-				kf, avg, this);
+		moveController = new PIDController(sd.getConst("MovekP", 0.1), sd.getConst("MovekI", 0),
+				sd.getConst("MovekD", 0), kf, avg, this);
 	}
 
 	/**

Original file line number	Diff line number	Diff line change
`@@ -43,11 +43,9 @@ public PIDMove(double targ, DrivetrainInterface dt, SmartDashboardInterface sd,`
`43`	`43`	`if (Robot.dt != null) {`
`44`	`44`	`requires(Robot.dt);`
`45`	`45`	`}`
`46`		`- moveController = new PIDController(sd.getConst("MovekP", 1), sd.getConst("MovekI", 0), sd.getConst("MovekD", 0),`
`47`		`- avg, this);`
`48`	`46`	`double kf = 1 / (dt.getCurrentMaxSpeed() * sd.getConst("Default PID Update Time", 0.05));`
`49`		`- moveController = new PIDController(sd.getConst("MovekP", 1), sd.getConst("MovekI", 0), sd.getConst("MovekD", 0),`
`50`		`- kf, avg, this);`
	`47`	`+ moveController = new PIDController(sd.getConst("MovekP", 0.1), sd.getConst("MovekI", 0),`
	`48`	`+ sd.getConst("MovekD", 0), kf, avg, this);`
`51`	`49`	`}`
`52`	`50`
`53`	`51`	`/**`