PID

awtybots · Feb 19, 2024 · 8e6f6b3 · 8e6f6b3
1 parent 8f687dc
commit 8e6f6b3
Show file tree

Hide file tree

Showing 5 changed files with 4 additions and 5 deletions.
diff --git a/src/main/java/frc/robot/subsystems/arm/Arm.java b/src/main/java/frc/robot/subsystems/arm/Arm.java
@@ -33,6 +33,7 @@ public Arm(ArmIO io) {
     // separate robot with different tuning)
     switch (EnvironmentalConstants.currentMode) {
       case REAL:
+        io.configurePID(ArmConstants.kP, ArmConstants.kI, ArmConstants.kD);
       case REPLAY:
         ffModel = new SimpleMotorFeedforward(ArmConstants.ks, ArmConstants.kv);
         io.configurePID(ArmConstants.kP, ArmConstants.kI, ArmConstants.kD);

diff --git a/src/main/java/frc/robot/subsystems/armElevator/ArmElevator.java b/src/main/java/frc/robot/subsystems/armElevator/ArmElevator.java
@@ -33,6 +33,7 @@ public ArmElevator(ArmElevatorIO io) {
     // separate robot with different tuning)
     switch (EnvironmentalConstants.currentMode) {
       case REAL:
+        io.configurePID(ArmElevatorConstants.kP, ArmElevatorConstants.kI, ArmElevatorConstants.kD);
       case REPLAY:
         ffModel = new SimpleMotorFeedforward(ArmElevatorConstants.ks, ArmElevatorConstants.kv);
         io.configurePID(ArmElevatorConstants.kP, ArmElevatorConstants.kI, ArmElevatorConstants.kD);

diff --git a/src/main/java/frc/robot/subsystems/flywheel/Flywheel.java b/src/main/java/frc/robot/subsystems/flywheel/Flywheel.java
@@ -33,6 +33,7 @@ public Flywheel(FlywheelIO io) {
     // Switch constants based on mode.
     switch (EnvironmentalConstants.currentMode) {
       case REAL:
+        io.configurePID(FlywheelConstants.kP, FlywheelConstants.kI, FlywheelConstants.kD);
       case REPLAY:
         ffModel = new SimpleMotorFeedforward(FlywheelConstants.ks, FlywheelConstants.kv);
         io.configurePID(FlywheelConstants.kP, FlywheelConstants.kI, FlywheelConstants.kD);

diff --git a/src/main/java/frc/robot/subsystems/intake/Intake.java b/src/main/java/frc/robot/subsystems/intake/Intake.java
@@ -30,9 +30,6 @@ public class Intake extends SubsystemBase {
   public Intake(IntakeIO io) {
     this.io = io;
 
-    // Switch constants based on mode (the physics simulator is treated as a
-    // separate robot with different tuning)
-
     io.configurePID(
         Constants.IntakeConstants.kP, Constants.IntakeConstants.kI, Constants.IntakeConstants.kD);
 

diff --git a/src/main/java/frc/robot/subsystems/wrist/Wrist.java b/src/main/java/frc/robot/subsystems/wrist/Wrist.java
@@ -30,10 +30,9 @@ public class Wrist extends SubsystemBase {
   public Wrist(WristIO io) {
     this.io = io;
 
-    // Switch constants based on mode (the physics simulator is treated as a
-    // separate robot with different tuning)
     switch (EnvironmentalConstants.currentMode) {
       case REAL:
+        io.configurePID(WristConstants.kP, WristConstants.kI, WristConstants.kD);
       case REPLAY:
         ffModel = new SimpleMotorFeedforward(WristConstants.ks, WristConstants.kv);
         io.configurePID(WristConstants.kP, WristConstants.kI, WristConstants.kD);