Coasting Problems

[Joe Ross]

Originally Posted by Matt_4505

public class DriveControl {
    double leftJoystickValue = 0;
    double rightJoystickValue = 0;
    
    /**
     * Controls the Joystick Read-in.
     * Reads the joystick values and directs values to the motors.
     */
    public void driveRobot() {

        if(Math.abs(Hardware.leftJoystick.getY()) > .25){
            leftJoystickValue = Hardware.leftJoystick.getY();
        }
        if(Math.abs(Hardware.rightJoystick.getY()) > .25){
            rightJoystickValue = Hardware.rightJoystick.getY();
        }

This code will make the speed controllers run at about 0.25 when the joystick ramps down.

Imagine the following scenario

joystick output
1        1
0.75     0.75
0.5      0.5
0.3      0.3
0.26     0.26
0.25     0.25
0.1      0.25
0.0      0.25

You need to explicitly set the value back to 0 when it is <= 0.25. The initialize to 0 at the top only occurs once.