breaks motor power, but patches PID and shaking

unofficial-rev-port · Jun 20, 2024 · 95a8d10 · 95a8d10
1 parent 3547512
commit 95a8d10
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/REVHubInterface/__main__.py b/REVHubInterface/__main__.py
@@ -690,6 +690,7 @@ def send_all_KA(self):
     def speedMotorSlider(self, speed, moduleNumber, motorNumber, *args):
         self.Motor_packs[moduleNumber * 4 + motorNumber].Java_entry.delete(0, END)
         self.Motor_packs[moduleNumber * 4 + motorNumber].Java_entry.insert(0, '%.2f' % (float(speed) / 32000))
+        self.REVModules[moduleNumber].motors[motorNumber].disablePIDs()
         self.REVModules[moduleNumber].motors[motorNumber].setPower(float(speed))
         self.REVModules[moduleNumber].motors[motorNumber].enable()
         self.repetitiveFunctions = [
@@ -702,6 +703,7 @@ def speedMotorEntry(self, motorNumber, moduleNumber, *args):
         self.Motor_packs[moduleNumber * 4 + motorNumber].Speed_slider.set(speed)
         self.Motor_packs[moduleNumber * 4 + motorNumber].Java_entry.delete(0, END)
         self.Motor_packs[moduleNumber * 4 + motorNumber].Java_entry.insert(0, '%.2f' % float(speed / 32000))
+        self.REVModules[moduleNumber].motors[motorNumber].disablePIDs()
         self.REVModules[moduleNumber].motors[motorNumber].setPower(float(speed))
         self.REVModules[moduleNumber].motors[motorNumber].enable()
         self.repetitiveFunctions = [
@@ -718,6 +720,7 @@ def javaMotorEntry(self, motorNumber, moduleNumber, *args):
 
         self.Motor_packs[moduleNumber * 4 + motorNumber].Speed_slider.set(speed * 32000)
         self.REVModules[moduleNumber].motors[motorNumber].setMode(0, 1)
+        self.REVModules[moduleNumber].motors[motorNumber].disablePIDs()
         self.REVModules[moduleNumber].motors[motorNumber].setPower(float(speed * 32000))
         self.REVModules[moduleNumber].motors[motorNumber].enable()
         self.repetitiveFunctions = [