Ejemplo n.º 1
0
 protected void SetDriveDistance(int ticks, double seconds) {
   Log.debug("Seting PID set point of= " + ticks + " currently at " + currentEncoderReading);
   // drive.SetPIDSetPoint(ticks, seconds);
   driveDirection.setHigh(ticks < currentEncoderReading);
   driveEnable.setHigh(false);
   ThreadUtil.wait((int) (seconds * 1000));
   driveEnable.setHigh(true);
   Log.debug("Arrived at= " + currentEncoderReading);
 }
Ejemplo n.º 2
0
 protected void SetDriveVelocity(int ticksPerSecond) {
   Log.debug("Seting PID Velocity set point of=" + ticksPerSecond);
   if (ticksPerSecond > 0) {
     driveDirection.setHigh(ticksPerSecond > 0);
     driveEnable.setHigh(false);
   } else {
     driveEnable.setHigh(true);
   }
 }