public void rotatePB(double pow, int deg) throws InterruptedException {
double power = pow;
double angleTo = deg;
double error;
double inte = 0;
double inteNoE = 0;
double der;
double currentAngle = sensor.getGyroYaw();
double previousError = angleTo - currentAngle;
opMode.telemetry.addData("Current Angle", currentAngle + "");
opMode.telemetry.addData("Angle To", angleTo + "");
opMode.telemetry.update();
opMode.resetStartTime();
currentAngle = 0;
while (Math.abs(currentAngle) < Math.abs(angleTo) - 2) {
currentAngle = sensor.getGyroYaw();
error = Math.abs(angleTo) - Math.abs(currentAngle);
opMode.telemetry.addData("error", error);
power = (pow * (error) * .005) + .1; // update p values
inte = ((opMode.getRuntime()) * error * .0025); // update inte value
inteNoE = ((opMode.getRuntime()) * .05);
der = (error - previousError) / opMode.getRuntime() * 0; // update der value
power = power + inteNoE + der;
if (angleTo > 0) power *= -1;
Range.clip(power, -1, 1);
startMotors(-power, power);
opMode.telemetry.addData("PID", power);
// opMode.telemetry.addData("integral", inte);
opMode.telemetry.addData("integral without error", inteNoE);
opMode.telemetry.addData("angle", currentAngle);
opMode.telemetry.update();
previousError = error;
opMode.idle();
}
stopMotors();
opMode.telemetry.addData("finished", "done");
opMode.telemetry.update();
}
public void rotatePZeroRev(double pow) throws InterruptedException {
double power = pow;
double angleTo = 0;
double error;
double inte = 0;
double inteNoE = 0;
double der;
double currentAngle = sensor.getGyroYaw();
double previousError = angleTo - currentAngle;
opMode.telemetry.addData("Current Angle", currentAngle + "");
opMode.telemetry.addData("Angle To", angleTo + "");
opMode.telemetry.update();
opMode.resetStartTime();
while (Math.abs(currentAngle) > 2) {
currentAngle = sensor.getGyroYaw();
error = Math.abs(Math.abs(angleTo) - Math.abs(currentAngle));
opMode.telemetry.addData("error", error);
power = (pow * (error) * .02) + .125; // update p values
inte = ((opMode.getRuntime()) * error * .0020); // update inte value
inteNoE = ((opMode.getRuntime()) * .075);
der = (error - previousError) / opMode.getRuntime() * 0; // update der value
power = power + inteNoE - der;
power *= 1; // -1 is right
Range.clip(power, -1, 1);
startMotors(-power, power);
opMode.telemetry.addData("PID", power);
// opMode.telemetry.addData("integral", inte);
opMode.telemetry.addData("integral without error", inteNoE);
opMode.telemetry.addData("angle", currentAngle);
opMode.telemetry.update();
previousError = error;
opMode.idle();
}
opMode.telemetry.update();
stopMotors();
}
