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switched roll and pitch #30

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switched roll and pitch #30

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ab24317
switch roll and pitch in falcon and smartclimb
CoolSakamoto Mar 8, 2020
14323a0
Merge branch 'master' of https://github.com/MOERobotics/robot-2020 in…
CoolSakamoto Mar 8, 2020
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14 changes: 7 additions & 7 deletions src/main/java/frc/robot/commands/SmartClimb.java
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Original file line number Diff line number Diff line change
Expand Up @@ -72,18 +72,18 @@ public void step(GenericRobot robot) {
climbPowerPort = 0.6;
climbPowerStarboard = 0.6;

if (-robot.getPitch()> rollTolerance)
if (robot.getRoll()> rollTolerance)
{
climbPowerStarboard += 0.2;
}
if (-robot.getPitch() < -rollTolerance)
if (robot.getRoll() < -rollTolerance)
{
climbPowerPort += 0.2;
}

encoderPort = robot.getClimberPortTicks();
encoderStarboard = robot.getClimberStarboardTicks();
rollTrim = -robot.getPitch();
rollTrim = robot.getRoll();
PIDPortHold.reset();
PIDStarboardHold.reset();
PIDRollHold.reset();
Expand All @@ -100,7 +100,7 @@ public void hold(GenericRobot robot){

double correctionStarboard = PIDStarboardHold.calculate(robot.getClimberStarboardTicks() - encoderStarboard);

double rollCorrection = PIDRollHold.calculate((-robot.getPitch()) - rollTrim);
double rollCorrection = PIDRollHold.calculate((robot.getRoll()) - rollTrim);

/*
rollTrim, encoderPort and encoderStarboard represent the state that we are trying to hold.
Expand All @@ -110,12 +110,12 @@ public void hold(GenericRobot robot){
If you are listing to port, lower the stb side and hold the port side.
*/

if (Math.abs(-robot.getPitch() - rollTrim)>rollTolerance) {
if (-robot.getPitch() > rollTrim) {
if (Math.abs(robot.getRoll() - rollTrim)>rollTolerance) {
if (robot.getRoll() > rollTrim) {
robot.setClimbVerticalPortPower(-rollCorrection);
robot.setClimbVerticalStarboardPower(correctionStarboard);
encoderPort = robot.getClimberPortTicks();
} else if (-robot.getPitch() < rollTrim) {
} else if (robot.getRoll() < rollTrim) {
robot.setClimbVerticalStarboardPower(rollCorrection);
robot.setClimbVerticalPortPower(correctionPort);
encoderStarboard = robot.getClimberStarboardTicks();
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6 changes: 2 additions & 4 deletions src/main/java/frc/robot/genericrobot/Falcon.java
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Original file line number Diff line number Diff line change
Expand Up @@ -188,13 +188,11 @@ public double getYaw() {

@Override
public double getPitch() {
return navx.getPitch();
return navx.getRoll();
}

@Override
public double getRoll() {
return navx.getRoll();
}
public double getRoll() { return -navx.getPitch(); }

@Override
public void resetAttitude() {
Expand Down