VPID works with shifting gears!

yes it works now w/ shifting btwn high and low gears (i.e. max target
and kf changes correctly)
VPID targets are a little funky though (i.e. +- when they should be the
opposite) due to DifferentialDrive auto inversion, joystick inversion,
etc. Wheels still moving in intended joystick direction though. Will
just have to see if this becomes problematic

Author: DriverStationComputer

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

@@ -116,7 +116,7 @@ public RobotMap() {
 
 		leftVelocityController = new VelocityPIDController(Robot.getConst("VelocityLeftkP", 0),
 				Robot.getConst("VelocityLeftkI", 0), Robot.getConst("VelocityLeftkD", 0),
-				/*1 / Robot.getConst("Max Low Speed", 84)*/ Robot.getConst("VelocityLeftkF", 1/84.0), leftEncRate, dtLeft);
+				1 / Robot.getConst("Max Low Speed", 84), leftEncRate, dtLeft);
 		leftVelocityController.setInputRange(-Robot.getConst("Max High Speed", 204),
 				Robot.getConst("Max High Speed", 204));
 		leftVelocityController.setOutputRange(-1.0, 1.0);
@@ -140,16 +140,14 @@ public RobotMap() {
 
 		rightVelocityController = new VelocityPIDController(Robot.getConst("VelocityRightkP", 0),
 				Robot.getConst("VelocityRightkI", 0), Robot.getConst("VelocityRightkD", 0),
-				/*1 / Robot.getConst("Max Low Speed", 84)*/ Robot.getConst("VelocityRightkF", 1/84.0), rightEncRate, dtRight);
+				1 / Robot.getConst("Max Low Speed", 84), rightEncRate, dtRight);
 		rightVelocityController.setInputRange(-Robot.getConst("Max High Speed", 204),
 				Robot.getConst("Max High Speed", 204));
 		rightVelocityController.setOutputRange(-1.0, 1.0);
 		rightVelocityController.setContinuous(false);
 		rightVelocityController.setAbsoluteTolerance(Robot.getConst("VelocityToleranceRight", 2));
 
 		robotDrive = new DifferentialDrive(leftVelocityController, rightVelocityController);
-//		robotDrive = new DifferentialDrive(dtLeft, dtRight);
-
 		robotDrive.setMaxOutput(Robot.getConst("Max High Speed", 204));
 
 		distEncAvg = new PIDSourceAverage(leftEncDist, rightEncDist);

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

@@ -266,12 +266,14 @@ public double resetVelocityPIDkFConsts() {
 		double newKF = 1 / getCurrentMaxSpeed();
 		leftVelocityController.setF(newKF);
 		rightVelocityController.setF(newKF);
+		SmartDashboard.putNumber("VPID kF", newKF);
 		return newKF;
 	}
 
 	public double resetVPIDInputRanges() {
 		double currentMaxSpd = getCurrentMaxSpeed();
 		leftVelocityController.setInputRange(-currentMaxSpd, currentMaxSpd);
+		rightVelocityController.setInputRange(-currentMaxSpd, currentMaxSpd);
 		return currentMaxSpd;
 	}