Added code for robot to rotate precise angle and drive forward precis… #5
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chondl
requested changes
Apr 7, 2022
6238_prototype/src/main/java/frc/robot/subsystems/DriveSubsystem.java
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| private final double kCountsPerRev = 2048; | ||
| private final double kGearRatio = 20; | ||
| private final double kWheelRadiusInches = 2; | ||
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We should test this code by using driving the robot manually and measuring the distance it goes.
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| SmartDashboardParam kPSlider = new SmartDashboardParam("kPAutonomousDrive"); | ||
| SmartDashboardParam kISlider = new SmartDashboardParam("kIAutonomousDrive"); | ||
| SmartDashboardParam kDSlider = new SmartDashboardParam("kDAutonomousDrive"); |
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This will need default values.
6238_prototype/src/main/java/frc/robot/commands/RotateCommand.java
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…e distance