Fixes acmerobotics#35 and acmerobotics#36

JackJones7 · Nov 9, 2019 · 86454df · 86454df
1 parent 60a33f8
commit 86454df
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diff --git a/...de/src/main/java/org/firstinspires/ftc/teamcode/drive/mecanum/SampleMecanumDriveBase.java b/...de/src/main/java/org/firstinspires/ftc/teamcode/drive/mecanum/SampleMecanumDriveBase.java
@@ -150,6 +150,9 @@ public void update() {
                 double t = clock.seconds() - turnStart;
 
                 MotionState targetState = turnProfile.get(t);
+
+                turnController.setTargetPosition(targetState.getX());
+
                 double targetOmega = targetState.getV();
                 double targetAlpha = targetState.getA();
                 double correction = turnController.update(currentPose.getHeading(), targetOmega);

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/tank/SampleTankDriveBase.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/tank/SampleTankDriveBase.java
@@ -151,6 +151,9 @@ public void update() {
                 double t = clock.seconds() - turnStart;
 
                 MotionState targetState = turnProfile.get(t);
+
+                turnController.setTargetPosition(targetState.getX());
+
                 double targetOmega = targetState.getV();
                 double targetAlpha = targetState.getA();
                 double correction = turnController.update(currentPose.getHeading(), targetOmega);