Changes between Version 6 and Version 7 of ControlSystems/SoftwareTeam/Training/GettingStarted/ClosedLoopControl

Timestamp:

Nov 3, 2019, 9:11:27 PM (6 years ago)

Author:

David Albert

Comment:

--

ControlSystems/SoftwareTeam/Training/GettingStarted/ClosedLoopControl

@@ -57 +57 @@
             rightMotor.set(rightPower);
           }
-          if ((leftEncoder.getDistance() > 36.0) || 
-              (rightEncoder.getDistance() > 36.0)) {
+
+          // For PWM Motor Controllers uncomment the following 2 lines
+          //if ((leftEncoder.getDistance() > 36.0) || 
+          //    (rightEncoder.getDistance() > 36.0)) {
+
+          // For CAN motor controllers uncomment the following 4 lines
+          //int l_raw = leftMotor.getSelectedSensorPosition();
+          //int r_raw = rightMotor.getSelectedSensorPosition();
+          //if ((raw2inches(l_raw, 360*2, 7.5) > 36.0) || 
+          //    (raw2inches(r_raw, 360*2, 7.5) > 36.0)) {
+
               leftMotor.stopMotor();
               rightMotor.stopMotor();