fixed my pid loop

svhsrobotics · Oct 25, 2024 · 206c106 · 206c106
1 parent 8a7af5f
commit 206c106
Showing 1 changed file with 8 additions and 12 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/nickpidloop.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/nickpidloop.java
@@ -28,30 +28,26 @@ public void runOpMode()  throws InterruptedException {
         waitForStart();
         double error = 1.1;
         double power = 0;
+        double difference = 0;
+        double preverror = 0;
+
 
         refrence = 300;
         Arm.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
         Arm.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
 
         while (opModeIsActive()) {
 
-            while (gamepad1.b)
+            while (gamepad1.b);
 
+                error = preverror + error;
+                difference = error -preverror;
+                preverror = error;
+//                power = error + what?? ask brennan on monday
 
-                // obtaining encoder position
-                encoderPosition = Arm.getCurrentPosition();
-                // calculate error
-                error = refrence - encoderPosition;
-                power = (error/250)*.7;
-                if(power>0.7){
-                    power = 0.7;
-                }
-                else if(power<-.7){
-                    power = -0.7;
                 }
 
         }
     }
 
 
-}