Quote:
Originally Posted by curtis0gj
I think I have solved this but I don't have a way of testing it until tomorrow, I think the issue is the double angle = gyro1.getAngle(); is in the while loop so it's just getting the angle over and over... But I still need help with setting up an encoder if anyone could help that would be great!
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Quoting my self for a third time lol.... I spent a bit more time trying to setup the straight driving and what I did was created a new boolean and set it to true and made an if loop that it will enter if its == to true.
Code:
public void autonomous() {
double angle = gyro1.getAngle();
while(isAutonomous() && isEnabled()) {
SmartDashboard.putNumber("angle", gyro1.getAngle());
robot.drive(-0.20, 1);
if(angle > 83) {
robot.drive(0,0);
break;
}
//do i need to reset my gryo? do i need to place my get angle here?
boolean turnCompleted = true;
if(turnCompleted == true) {
double angle2 = gyro1.getAngle(); // i think for driving i need a constant update of my angle
//so i will place this inside my if loop and i name it angle2 so it's a different variable.
robot.drive(-1.0, -angle2*Kp); // driving straight in a line.
Timer.delay(0.004);
}
}
}
If anyone has any ideas for improvement for this please let me know.
