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Minor improvements/fixes to new command framework (#2186)

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Oblarg
2019-12-23 02:09:25 -05:00
committed by Peter Johnson
parent 1ce24a7a2f
commit 67b59f2b31
9 changed files with 107 additions and 38 deletions
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11
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/ArmSubsystem.java
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@@ -39,12 +39,11 @@ public class ArmSubsystem extends ProfiledPIDSubsystem {
* Create a new ArmSubsystem.
*/
public ArmSubsystem() {
super(new ProfiledPIDController(
kP,
0,
0,
new TrapezoidProfile.Constraints(kMaxVelocityRadPerSecond,
kMaxAccelerationRadPerSecSquared)));
super(new ProfiledPIDController(kP, 0, 0,
new TrapezoidProfile.Constraints(
kMaxVelocityRadPerSecond,
kMaxAccelerationRadPerSecSquared)),
0);
m_encoder.setDistancePerPulse(kEncoderDistancePerPulse);
// Start arm at rest in neutral position
setGoal(kArmOffsetRads);