Turret PIDs
rovaden opened this issue · 2 comments
- turn to target pid needs to be both started and finsihed
- also needs tyo be tuned
- turret to angle pid to be created
done but not so sure on all of it
i assume the setpoint for TurnToTargetPIDCommand is just 0.0 bc when our offset from the target is 0 (from Limelight::getTx) then we stop but not 100% sure
also i just used the newly made TurnToAnglePIDCommand in the output but idk if u can run commands from within other commands and i dont think im using 'output' correctly anyway but idk how else to do that so u might wanna change that
turn to angle should be fine; only thing im not 100% on is the setpoint
since the command is passed an angle but we dont have a getAngle method for the sparks i used the method u made to turn the angle into encoder units for the setpoint and just used getEncoder, i think that works but again u might wanna double check
We'll check it out, make a pull request and link it to this issue by putting "fixes #34" in the pull request.