fix the antigrav code

Team766 · Sep 14, 2023 · 65ee961 · 65ee961
1 parent ed5d4d0
commit 65ee961
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Showing 2 changed files with 13 additions and 2 deletions.
diff --git a/src/main/java/com/team766/controllers/CanSparkMaxSmartMotionRotationalPIDController.java b/src/main/java/com/team766/controllers/CanSparkMaxSmartMotionRotationalPIDController.java
@@ -1,4 +1,6 @@
-import java.*;
+package com.team766.controllers;
+
+import java.util.*;
 
 public class CanSparkMaxSmartMotionRotationalPIDController extends ExtendableCanSparkMaxSmartMotionPIDController {
 
@@ -17,7 +19,7 @@ private double euToDegrees(final double eu) {
 	}
 
 	public void runPIDs(){
-		updateAntigrav(antiGravK * Math.sin(euToDegrees(mc.getSensorPosition())));
+		updateAntigrav(antiGravK * Math.sin(euToDegrees(getHallSensorPosition())));
 		run();
 	}
 

diff --git a/src/main/java/com/team766/controllers/ExtendableCanSparkMaxSmartMotionPIDController.java b/src/main/java/com/team766/controllers/ExtendableCanSparkMaxSmartMotionPIDController.java
@@ -104,6 +104,15 @@ public ExtendableCanSparkMaxSmartMotionPIDController(final String configName, fi
 	private double absToEu(final double abs) {
 		return encoderUnitsPerOneAbsolute * abs;
 	}
+
+	/*
+	 * This is a method to get the hall sensor position from the motorcontroller, so we can use it in the antigravity calculations in the subclass.
+	 * @return the value of the hall sensor position
+	 * @author Max Spier - 9/13/2023
+	 */
+	protected double getHallSensorPosition(){
+		return mc.getSensorPosition();
+	}
 
 	/*
 	 * Method to change all PIDF values at once