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[examples] Don't continually set setpoint in PotentiometerPID Examples (#3084)

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sciencewhiz
2021-01-13 20:09:08 -08:00
committed by GitHub
parent 8c5bfa0132
commit 04a90b5dd1
2 changed files with 7 additions and 3 deletions
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4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid/Robot.java
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@@ -46,6 +46,7 @@ public class Robot extends TimedRobot {
m_joystick = new Joystick(kJoystickChannel);
m_pidController = new PIDController(kP, kI, kD);
m_pidController.setSetpoint(kSetPoints[m_index]);
}
@Override
@@ -60,9 +61,8 @@ public class Robot extends TimedRobot {
if (currentButtonValue && !m_previousButtonValue) {
// index of the elevator setpoint wraps around.
m_index = (m_index + 1) % kSetPoints.length;
m_pidController.setSetpoint(kSetPoints[m_index]);
}
m_previousButtonValue = currentButtonValue;
m_pidController.setSetpoint(kSetPoints[m_index]);
}
}