Instant to Run Command

ftc13100 · Nov 24, 2024 · 981ed92 · 981ed92
1 parent 2c56695
commit 981ed92
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Showing 3 changed files with 9 additions and 3 deletions.
diff --git a/.idea/misc.xml b/.idea/misc.xml
diff --git a/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/opModes/tuning/arm/ArmPIDTuner.kt b/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/opModes/tuning/arm/ArmPIDTuner.kt
@@ -4,7 +4,6 @@ import com.acmerobotics.dashboard.FtcDashboard
 import com.acmerobotics.dashboard.config.Config
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry
 import com.arcrobotics.ftclib.command.CommandOpMode
-import com.arcrobotics.ftclib.command.InstantCommand
 import com.arcrobotics.ftclib.command.RunCommand
 import com.arcrobotics.ftclib.hardware.motors.Motor
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp
@@ -27,13 +26,13 @@ class ArmPIDTuner : CommandOpMode() {
 
         armSubsystem = ArmSubsystem(armRight, armLeft, telemetry)
 
-        InstantCommand({
+        RunCommand({
             armSubsystem.setpoint = Math.toRadians(target)
         }).perpetually().schedule()
 
         RunCommand({
             telemetry.addData("Arm Angle: ", Math.toDegrees(armSubsystem.armAngle))
-            telemetry.addData("Setpoint: ", target)
+            telemetry.addData("Setpoint: ", armSubsystem.setpoint)
             telemetry.update()
         }).perpetually().schedule()
 

diff --git a/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/subsystems/arm/ArmSubsystem.kt b/TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/subsystems/arm/ArmSubsystem.kt
@@ -58,6 +58,7 @@ class ArmSubsystem(
     override fun getMeasurement() = armAngle
 
     companion object {
+
         @JvmField
         var kCos = 0.4