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kV is in volts now, so needs to be multiplied by 12.0 #3

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kV is in volts now, so needs to be multiplied by 12.0 #3

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4 changes: 2 additions & 2 deletions util/PIDFController.java
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Original file line number Diff line number Diff line change
Expand Up @@ -266,7 +266,7 @@ public void copyTo(SparkBase motorController, SparkBaseConfig motorConfig, Close
//need to check - if we just update a few parameters in SparkMaxConfig, do the rest stay the same as previously set?
//otherwise do we need to pull all the prior parameters out of the motorController's sparkmaxconfig and reapply them?
motorConfig.closedLoop.pid(this.getP(), this.getI(), this.getD(), slot);
motorConfig.closedLoop.feedForward.kV(this.getF(), slot);
motorConfig.closedLoop.feedForward.kV(this.getF() * 12.0, slot);
// sparkmax does not like POSITIVE_INFINITY, thows param erron on id 17... 0.0 should workaround
// minor hack: if izone is not set, base class defaults to POSITIVITE_INFINITY
double izone = (this.getIZone() == Double.POSITIVE_INFINITY) ? 0.0 : this.getIZone();
Expand Down Expand Up @@ -295,7 +295,7 @@ public void copyChangesTo(SparkBase motorController, SparkBaseConfig motorConfig
if (!m_changes || motorConfig == null || motorController == null) return;

motorConfig.closedLoop.pid(this.getP(), this.getI(), this.getD(), slot);
motorConfig.closedLoop.feedForward.kV(this.getF(), slot);
motorConfig.closedLoop.feedForward.kV(this.getF() * 12.0, slot);
motorConfig.closedLoop.iZone(getIZone(), slot);

// send to HW if we have a pid change, use async so robot loop isn't delayed
Expand Down