diff options
Diffstat (limited to 'src/main/java/frc/robot/subsystems/Chain.java')
| -rw-r--r-- | src/main/java/frc/robot/subsystems/Chain.java | 6 |
1 files changed, 1 insertions, 5 deletions
diff --git a/src/main/java/frc/robot/subsystems/Chain.java b/src/main/java/frc/robot/subsystems/Chain.java index 40235fe..3ee7108 100644 --- a/src/main/java/frc/robot/subsystems/Chain.java +++ b/src/main/java/frc/robot/subsystems/Chain.java @@ -20,10 +20,6 @@ public class Chain extends SubsystemBase public Chain() { - // TODO: figure out invertedness - - // m_motor.setInverted(true); - m_encoder.setDistancePerPulse(1.0/Constants.ChainEncoderScale); m_encoder.reset(); } @@ -36,9 +32,9 @@ public class Chain extends SubsystemBase // perc between 0 and 1; public void atPercentage(double perc) { - // System.out.println(perc); Logger.recordOutput(getName() + "/perc", perc); double pid_out = m_pid.calculate(m_encoder.getDistance(), perc); + Logger.recordOutput(getName() + "/pidOUt", pid_out); m_motor.setVoltage(MathUtil.clamp(pid_out, -6, 6)); } |