Fixed multipliers

Author: sentientspud

bash.exe.stackdump

@@ -0,0 +1,9 @@
+Stack trace:
+Frame        Function    Args
+000005FA218  001800720DE (0018026270D, 00180217E46, 000005FA218, 000005F9110)
+000005FA218  00180046E02 (000005FA178, 00000000000, 00000000000, 000FFFFFFFF)
+000005FA218  00180046E42 (001802627C9, 000005FA0C8, 000005FA218, 00000000000)
+000005FA218  001800BE61F (00000000000, 00000000000, 00000000000, 00000000000)
+000005FA218  001800BE83F (000005FA240, 00000000000, 00000000000, 00000000000)
+000005FA2C0  001800BFAFA (000005FA240, 00000000000, 00000000000, 00000000000)
+End of stack trace

config/subsystems.yml

@@ -10,7 +10,7 @@ Drive:
     F: .01
     minISetpoint: 1.0
     maxIError: 24.0
-#    dataLogging: true
+    dataLogging: true
   driveMode: CONTROLLER
   maxSpeed: 120.0
 Picker:

core/src/main/java/org/teamtators/rotator/commands/DriveTank.java

@@ -41,9 +41,9 @@ protected boolean step() {
         double leftPower = -driverJoystick.getAxisValue(LogitechF310.Axis.LEFT_STICK_Y);
         double rightPower = -driverJoystick.getAxisValue(LogitechF310.Axis.RIGHT_STICK_Y);
         leftPower = DriveUtils.applyDriveModifiers(leftPower,
-                config.deadzone, config.leftMultiplier, config.exponent);
+                config.deadzone, config.exponent) * config.leftMultiplier;
         rightPower = DriveUtils.applyDriveModifiers(rightPower,
-                config.deadzone, config.rightMultiplier, config.exponent);
+                config.deadzone, config.exponent) * config.rightMultiplier;
 
         drive.setSpeeds(leftPower, rightPower);
 

core/src/main/java/org/teamtators/rotator/commands/DriveUtils.java

@@ -9,12 +9,11 @@ public class DriveUtils {
      *
      * @param input      Original input
      * @param deadzone   Zone in which to ignore input
-     * @param multiplier Value to multiply input by
      * @param exponent   Value to raise input to the power of
      * @return Modified input
      */
-    public static double applyDriveModifiers(double input, double deadzone, double multiplier, double exponent) {
-        input = applyDeadzone(input * multiplier, deadzone);
+    public static double applyDriveModifiers(double input, double deadzone, double exponent) {
+        input = applyDeadzone(input, deadzone);
         return applyExponent(input, exponent);
     }
 

core/src/main/java/org/teamtators/rotator/tester/ManualTester.java

@@ -50,7 +50,7 @@ protected boolean step() {
         ComponentTest test = getCurrentTest();
         if (test == null) return false;
         double axisValue = -joystick.getAxisValue(TEST_AXIS);
-        axisValue = DriveUtils.applyDriveModifiers(axisValue, DEADZONE, 1.0, EXPONENT);
+        axisValue = DriveUtils.applyDriveModifiers(axisValue, DEADZONE, EXPONENT);
         test.updateAxis(axisValue);
         for (LogitechF310.Button button : LogitechF310.Button.values()) {
             boolean value = joystick.getButtonValue(button);