From f570976d06aca84e0efb6796487bd947e781b343 Mon Sep 17 00:00:00 2001 From: Titan Robotics Club Date: Thu, 6 Jun 2024 21:44:42 -0700 Subject: [PATCH] Update README.md --- README.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index 9b0c1a7..236d98f 100644 --- a/README.md +++ b/README.md @@ -55,17 +55,17 @@ Once the drive base is fully functional, the next step is to create subsystems f .setPositionPresets(RobotParams.SLIDE_PRESET_TOLERANCE, RobotParams.SLIDE_PRESETS); slideMotor = new FtcMotorActuator(RobotParams.HWNAME_SLIDE, slideParams).getActuator(); - // Delete or comment out the following two statements if you want to use motor native PID control + // Delete or comment out the following three statements if you want to use motor native PID control // (aka RUN_TO_POSITION) instead of software PID control. slideMotor.setSoftwarePidEnabled(true); slideMotor.setPositionPidParameters( RobotParams.SLIDE_KP, RobotParams.SLIDE_KI, RobotParams.SLIDE_KD, RobotParams.SLIDE_KF, RobotParams.SLIDE_IZONE, RobotParams.SLIDE_TOLERANCE); - - slideMotor.setSoftPositionLimits(RobotParams.SLIDE_MIN_POS, RobotParams.SLIDE_MAX_POS, false); slideMotor.setStallDetectionEnabled( RobotParams.SLIDE_STALL_DETECTION_DELAY, RobotParams.SLIDE_STALL_DETECTION_TIMEOUT, RobotParams.SLIDE_STALL_ERR_RATE_THRESHOLD); + + slideMotor.setSoftPositionLimits(RobotParams.SLIDE_MIN_POS, RobotParams.SLIDE_MAX_POS, false); } public TrcMotor getSlideMotor()