Merge pull request #2 from auscompgeek/fix-smart-motion-min-vel

Fix set smart motion min velocity call
REVrobotics · Feb 25, 2019 · f6cf130 · f6cf130
2 parents 095b30d + 722f380
commit f6cf130
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/C++/Smart Motion Example/src/main/cpp/Robot.cpp b/C++/Smart Motion Example/src/main/cpp/Robot.cpp
@@ -139,7 +139,7 @@ class Robot : public frc::TimedRobot {
     if((ff != kFF)) { m_pidController.SetFF(ff); kFF = ff; }
     if((max != kMaxOutput) || (min != kMinOutput)) { m_pidController.SetOutputRange(min, max); kMinOutput = min; kMaxOutput = max; }
     if((maxV != kMaxVel)) { m_pidController.SetSmartMotionMaxVelocity(maxV); kMaxVel = maxV; }
-    if((minV != kMinVel)) { m_pidController.SetSmartMotionMaxVelocity(minV); kMinVel = minV; }
+    if((minV != kMinVel)) { m_pidController.SetSmartMotionMinOutputVelocity(minV); kMinVel = minV; }
     if((maxA != kMaxAcc)) { m_pidController.SetSmartMotionMaxAccel(maxA); kMaxAcc = maxA; }
     if((allE != kAllErr)) { m_pidController.SetSmartMotionAllowedClosedLoopError(allE); allE = kAllErr; }
 

diff --git a/Java/Smart Motion Example/src/main/java/frc/robot/Robot.java b/Java/Smart Motion Example/src/main/java/frc/robot/Robot.java
@@ -160,7 +160,7 @@ public void teleopPeriodic() {
       kMinOutput = min; kMaxOutput = max; 
     }
     if((maxV != maxVel)) { m_pidController.setSmartMotionMaxVelocity(maxV,0); maxVel = maxV; }
-    if((minV != minVel)) { m_pidController.setSmartMotionMaxVelocity(minV,0); minVel = minV; }
+    if((minV != minVel)) { m_pidController.setSmartMotionMinOutputVelocity(minV,0); minVel = minV; }
     if((maxA != maxAcc)) { m_pidController.setSmartMotionMaxAccel(maxA,0); maxAcc = maxA; }
     if((allE != allowedErr)) { m_pidController.setSmartMotionAllowedClosedLoopError(allE,0); allE = allowedErr; }