void SlavedLauncherPID::SendSD() {
SmartDashboard::PutNumber(GetName() + "speed", ReturnPIDInput());
SmartDashboard::PutNumber(GetName() + "power", pidMotor.Get());
SmartDashboard::PutNumber(GetName() + "power2", pidMotor2.Get());
Command* comm = GetCurrentCommand();
if(comm)
{
SmartDashboard::PutString(GetName() + "command" , comm->GetName());
}
}
void Arm::Drive(float speed) {
// hold our position if PID is not enabled
// else we want to know where we are and lock there
// when we get out of override
setPoint = isEnabled ? setPoint : ReturnPIDInput();
// Cap the values at 1 so nothing strange happens
if (speed > .5)
{
speed = .5;
}
// Limit lower values as well
if (speed < -.3)
{
speed = -.3;
}
aRM_MOTOR_1->Set((float)speed);
aRM_MOTOR_2->Set((float)speed);
}
double PIDCommand::GetPosition()
{
return ReturnPIDInput();
}
double PIDCommand::PIDGet()
{
return ReturnPIDInput();
}
double SmartMotor::PIDGet(){
return ReturnPIDInput();
}
double PIDSubsystem::PIDGet() { return ReturnPIDInput(); }
/**
* Returns the current rate.
*
* @return the current rate
*/
double PIDSubsystem::GetRate() { return ReturnPIDInput(); }
/**
* Returns the current position.
*
* @return the current position
*/
double PIDSubsystem::GetPosition() { return ReturnPIDInput(); }
