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fix MoveToAction to use new PID constructors and have correct import #27

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Merged
AncientBison merged 1 commit into from
Aug 7, 2025
Merged

fix MoveToAction to use new PID constructors and have correct import #27

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10 changes: 4 additions & 6 deletions TeamCode/src/main/java/codebase/actions/MoveToAction.java
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Original file line number Diff line number Diff line change
@@ -1,8 +1,8 @@
package codebase.actions;

import com.qualcomm.robotcore.hardware.PIDCoefficients;
import com.qualcomm.robotcore.hardware.PIDController;

import codebase.controllers.PIDController;
import codebase.geometry.Angles;
import codebase.geometry.FieldPosition;
import codebase.geometry.MovementVector;
Expand Down Expand Up @@ -44,12 +44,10 @@ public MoveToAction(MecanumDriver driver, Localizer localizer, FieldPosition des
this.maxDistanceError = maxDistanceError;
this.maxRotationalError = maxRotationalError;

this.xPID = new PIDController(MOVEMENT_PID_COEFFICIENTS.p, MOVEMENT_PID_COEFFICIENTS.i, MOVEMENT_PID_COEFFICIENTS.d, () -> localizer.getCurrentPosition().x, () -> destination.x);
this.yPID = new PIDController(MOVEMENT_PID_COEFFICIENTS.p, MOVEMENT_PID_COEFFICIENTS.i, MOVEMENT_PID_COEFFICIENTS.d, () -> localizer.getCurrentPosition().y, () -> destination.y);
this.xPID = new PIDController(MOVEMENT_PID_COEFFICIENTS, () -> localizer.getCurrentPosition().x, () -> destination.x);
this.yPID = new PIDController(MOVEMENT_PID_COEFFICIENTS, () -> localizer.getCurrentPosition().y, () -> destination.y);
this.directionPID = new PIDController(
DIRECTION_PID_COEFFICIENTS.p, DIRECTION_PID_COEFFICIENTS.i, DIRECTION_PID_COEFFICIENTS.d,
() -> localizer.getCurrentPosition().direction,
() -> destination.direction,
DIRECTION_PID_COEFFICIENTS,
() -> Angles.angleDifference(localizer.getCurrentPosition().direction, destination.direction)
);
}
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