onboarding #75
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onboarding #75
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Yxhej
requested changes
May 30, 2024
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| @Override | ||
| public void setDriveSetpoint(double velocity) { | ||
| drivePID.setReference(velocity, ControlType.kVelocity); |
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No feedforward is used in closed-loop control currently. It can be added using the overloaded method
public REVLibError setReference(
double value, CANSparkBase.ControlType ctrl, int pidSlot, double arbFeedforward)
with the feedforward value being calculated with WPILIB's class.
| public void setTurnSetpoint(double angle) {} | ||
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| @Override | ||
| public void updateSetpoint(SwerveModuleState setpoint, ControlMode mode) { |
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Sim should follow the same logic as the rest of the modules, and we both know that rev's onboarding pid code could never be this complex
Yxhej
requested changes
May 31, 2024
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onboarding
currently has rev swerve only, talon onboarding will be added soon