New gpd branch

Team846 · Jan 25, 2025 · 3087cec · 3087cec
1 parent d5b7f8e
commit 3087cec
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Showing 3 changed files with 12 additions and 0 deletions.
diff --git a/src/y2025/cpp/commands/teleop/drive_command.cc b/src/y2025/cpp/commands/teleop/drive_command.cc
@@ -13,6 +13,12 @@ void DriveCommand::Periodic() {
 
   frc846::robot::swerve::DrivetrainOLControlTarget target{};
 
+  bool targeting_algae = container_.control_input_.GetReadings().targeting_algae;
+
+  if (targeting_algae) // add and a note is detected
+  {
+
+  }
   container_.drivetrain_.SetTarget({target});
 
   double translate_x = frc846::math::HorizontalDeadband(

diff --git a/src/y2025/cpp/subsystems/hardware/DrivetrainConstructor.cc b/src/y2025/cpp/subsystems/hardware/DrivetrainConstructor.cc
@@ -13,6 +13,11 @@ DrivetrainConstructor::DrivetrainConstructor()
 
   RegisterPreference("drive_motor_voltage_compensation", 16_V);
   RegisterPreference("steer_motor_voltage_compensation", 12_V);
+
+  RegisterPreference("gpd/kF", 12_V);
+  RegisterPreference("gpd/kP", 12_V);
+  RegisterPreference("gpd/kD", 12_V);
+
 }
 
 frc846::robot::swerve::DrivetrainConfigs

diff --git a/src/y2025/include/subsystems/abstract/control_input.h b/src/y2025/include/subsystems/abstract/control_input.h
@@ -9,6 +9,7 @@ struct ControlInputReadings {
   double rotation;
 
   bool zero_bearing;
+  bool targeting_algae;
 };
 
 struct ControlInputTarget {