Revert "PID testing"

This reverts commit e3dd816.
MoreRobotics · Jan 21, 2023 · ef5f070 · ef5f070
1 parent e8d3302
commit ef5f070
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Showing 7 changed files with 11 additions and 137 deletions.
diff --git a/src/main/deploy/pathplanner/Demo path.path b/src/main/deploy/pathplanner/Demo path.path
diff --git a/src/main/deploy/pathplanner/Spinny Path.path b/src/main/deploy/pathplanner/Spinny Path.path
@@ -24,12 +24,12 @@
     },
     {
       "anchorPoint": {
-        "x": 3.7432,
-        "y": 3.0
+        "x": 4.332476234319839,
+        "y": 3.0994094840575923
       },
       "prevControl": {
-        "x": 2.843613612587797,
-        "y": 3.0
+        "x": 3.4696525774849554,
+        "y": 3.0626935837667473
       },
       "nextControl": null,
       "holonomicAngle": 0.0,

diff --git a/src/main/deploy/pathplanner/generatedJSON/Demo path.wpilib.json b/src/main/deploy/pathplanner/generatedJSON/Demo path.wpilib.json
diff --git a/src/main/deploy/pathplanner/generatedJSON/New Path.wpilib.json b/src/main/deploy/pathplanner/generatedJSON/New Path.wpilib.json
diff --git a/src/main/deploy/pathplanner/generatedJSON/Spinny Path.wpilib.json b/src/main/deploy/pathplanner/generatedJSON/Spinny Path.wpilib.json
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -11,7 +11,6 @@
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
-import edu.wpi.first.wpilibj.Timer;
 //import frc.lib.util.AbsoluteEncoder;
 
 /**
@@ -113,8 +112,8 @@ public void teleopInit() {
     }
 
 
-    /*Reset Absolute */
-    m_robotContainer.resetAbsolute();
+ /*Reset Absolute */
+ m_robotContainer.resetAbsolute();
 
 
 

diff --git a/src/main/java/frc/robot/subsystems/Swerve.java b/src/main/java/frc/robot/subsystems/Swerve.java
@@ -147,9 +147,9 @@ public Command followTrajectoryCommand(PathPlannerTrajectory traj, boolean isFir
                 traj, 
                 this::getPose, // Pose supplier
                 Constants.Swerve.swerveKinematics, // SwerveDriveKinematics
-                new PIDController(1, 0, 0), // X controller. Tune these values for your robot. Leaving them 0 will only use feedforwards.
-                new PIDController(1, 0, 0), // Y controller (usually the same values as X controller)
-                new PIDController(5, 0, 0), // Rotation controller. Tune these values for your robot. Leaving them 0 will only use feedforwards.
+                new PIDController(0, 0, 0), // X controller. Tune these values for your robot. Leaving them 0 will only use feedforwards.
+                new PIDController(0, 0, 0), // Y controller (usually the same values as X controller)
+                new PIDController(0, 0, 0), // Rotation controller. Tune these values for your robot. Leaving them 0 will only use feedforwards.
                 this::setModuleStates, // Module states consumer
                 this // Requires this drive subsystem
             )