Changes between Version 2 and Version 3 of ControlSystems/SoftwareTeam/Training/GettingStarted/ClosedLoopControl/CANCode

Timestamp:

Nov 12, 2019, 7:19:23 PM (6 years ago)

Author:

David Albert

Comment:

--

ControlSystems/SoftwareTeam/Training/GettingStarted/ClosedLoopControl/CANCode

@@ -40 +40 @@
      leftMotor.configFactoryDefault();
      rightMotor.configFactoryDefault();
+     // right motor turns in opposite direction
+     rightMotor.setInverted(true);
      // Quadrature encoders are connected directly to the motor controllers
      leftMotor.configSelectedFeedbackSensor(FeedbackDevice.QuadEncoder);
@@ -83 +85 @@
      leftPower = 0.20;
      leftMotor.set(leftPower);
-     // to go forward, left motor turns clockwise, right motor counter-clockwise
-     rightPower = -0.20;
+     rightPower = 0.20;
      rightMotor.set(rightPower);
+     // Start the timer that determines how often control loop runs
+     autoTimer.start();
      // clear flag indicating autonomous is finished
      autoDone = false;
@@ -110 +113 @@
         // adjust motor power to try to keep left/right distances same
         leftPower  -= kP*error; // positive error means left is going too fast
-        rightPower -= kP*error; // right motor spins opposite direction of left
+        rightPower += kP*error; // right motor spins opposite direction of left
         leftMotor.set(leftPower);
         rightMotor.set(rightPower);