Help with CANSparkMax Coding Error

[MaryWhite]

I am having difficulty with checking if my setPoint on a Velocity pidController on a CanSparkMax has been reached.

In my periodic method, I have this line of code and get appropriate velocity output to the dashboard:
SmartDashboard.putNumber(“RearVelocity”, m_encoder.getVelocity());

In the isFlywheelAtVelocity method, I have the following lines of code, but my velocity from m_encoder is 0:
double closedLoopError = m_encoder.getVelocity() - targetShooterVelocity;
SmartDashboard.putNumber(“RearShooterActualVelocity”, m_encoder.getVelocity());
SmartDashboard.putNumber(“RearShooterTargetVelocity”, targetShooterVelocity);
SmartDashboard.putNumber(“RearClosedLoopError”, closedLoopError);
if (Math.abs(closedLoopError) < 100 ) return true;
else return false;

I am sure that this is caused by a silly programming mistake, but cannot put my finger on it. Any help would be appreciated.

RearShooter.java (6.2 KB)

[tsieberg]

I looked at your code. If you have a silly programming mistake, I can’t pinpoint it. The code looks like it should work to me.

[aph5]

Where are you calling the methods in this subsystem class from (especially the isFlywheelAtVelocity method)?

[MaryWhite]

From a command (attached)

NOTE: I realize that we always return true; we had an immediate need for the command to finish (competition was imminent) so we just set it to true and our operators held the prep button down for 3 seconds to make sure it was at speed.

RearFlywheelUpSpeed.java (2.2 KB)

[MaryWhite]

Out of desperation, I changed the code to break out the call to getVelocity – this code works – any idea why this would be the case?

/* Break Up the definition of closed loop error

 * A shot in the dark -- there is no reason this should make a difference

 */

public boolean isFlywheelAtVelocity(){

    double error = 0;

    double actual = 0;

    actual = m_encoder.getVelocity();

    error = actual - targetRPM;

    SmartDashboard.putNumber("RearCheckActual", actual);

    SmartDashboard.putNumber("RearCheckTarget", targetRPM);

    SmartDashboard.putNumber("RearCheckError", error);

    if (Math.abs(error) < 100 ) return true;

    else return false;

}