From 57ca2e0cf639c6abf8315998ec08d059a49f5438 Mon Sep 17 00:00:00 2001 From: PGgit08 Date: Tue, 6 Jan 2026 20:46:05 -0500 Subject: [PATCH] sol --- .../bthsrobotics/motorsim/robot/Robot.java | 15 ++++++++++----- .../bthsrobotics/motorsim/robot/Robot.class | Bin 1298 -> 1300 bytes 2 files changed, 10 insertions(+), 5 deletions(-) diff --git a/src/main/java/com/bthsrobotics/motorsim/robot/Robot.java b/src/main/java/com/bthsrobotics/motorsim/robot/Robot.java index c21443a..34897d2 100644 --- a/src/main/java/com/bthsrobotics/motorsim/robot/Robot.java +++ b/src/main/java/com/bthsrobotics/motorsim/robot/Robot.java @@ -26,9 +26,12 @@ public Robot() { // This method will be called once every 20ms public void periodic() { motor.getFrame().setMarkerPosition(reference); - + + // CODE HERE + // create error and deltaError variables double error = reference - motor.getPosition(); - double deltaError = (error - prevError) / period; + double deltaError = error - prevError; + // CODE HERE prevError = error; @@ -38,8 +41,10 @@ public void periodic() { hasMeasurement = true; } - double pid = kP * error + kD * deltaError; - - motor.setVolts(pid); + // CODE HERE + // calculate input variable, setVolts + double input = kP * error + kD * (deltaError / period); + motor.setVolts(input); + // CODE HERE } } diff --git a/target/classes/com/bthsrobotics/motorsim/robot/Robot.class b/target/classes/com/bthsrobotics/motorsim/robot/Robot.class index ed2d06704274e714ef192591f1c73a5e33846616..68905a6f68d086b8bc3509d44d47857bf7956b47 100644 GIT binary patch delta 98 zcmbQlHHB*f7c(1cW?n&Q$!0!gBSuD!$&M`QlXF;PSwt8(@+Wt)C@Ly2NHZuhC^4uo zs57WB=mALs22BQ2Aj^$GpTVEOaPnyuS!N{$y~(dxqB#4v4Rke delta 96 zcmbQjHHm8j7c&cUL1xNk0cImcMz+b$Eb1&G3>^8Bvsh#&ce5xe$}vbY$TO%hC^Bd> yC^Hx_s4$oSd6o>C3~oRXe+He&XIW&K)fluUzh#l)wPa>yU}W%PU|?Wk@CN`@4G)(9