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Additions to PID loop in wrist

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mayabartels
2019-02-01 15:08:46 -08:00
parent f6426c9324
commit 56f674578b
2 changed files with 18 additions and 2 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java
+2
View File
@@ -65,6 +65,8 @@ public class OI
JoystickButton ArmAimAssist = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.LEFT_JOYSTICK_BUTTON);
ArmAimAssist.whenPressed(new ArmSetMode(ArmControlMode.PID));
// uncoment the line above
2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java
+16 -2
View File
@@ -15,6 +15,8 @@ import org.usfirst.frc4388.utility.CANTalonEncoder;
import org.usfirst.frc4388.utility.ControlLoopable;
import org.usfirst.frc4388.utility.PIDParams;
import org.usfirst.frc4388.utility.SoftwarePIDPositionController;
import org.usfirst.frc4388.utility.MPTalonPIDPathController;
import org.usfirst.frc4388.utility.MPTalonPIDController;
import org.usfirst.frc4388.robot.subsystems.Arm;
import com.ctre.phoenix.motorcontrol.FeedbackDevice;
@@ -51,11 +53,11 @@ public class Wrist extends Subsystem
public static int MP_SLOT = 1;
private PIDParams mpPIDParams = new PIDParams(0.2, 0.0, 0.0, 0.0, 0.005, 0.0);
private PIDParams pidPIDParamsHiGear = new PIDParams(0.075, 0.0, 0.0, 0.0, 0.0, 0.0);
private PIDParams pidPIDParamsLoGear = new PIDParams(0.45, 0.0, 0.0, 0.0, 0.0, 0.0);
private PIDParams pidPIDParamsLevel = new PIDParams(0.075, 0.0, 0.0, 0.0, 0.0, 0.0);
public static final double KF_UP = 0.005;
public static final double KF_DOWN = 0.0;
public static final double PID_ERROR_INCHES = 1.0;
private long periodMs = (long)(Constants.kLooperDt * 1000.0);
// Defined positions
public static final double MIN_POSITION_INCHES = 0.0;
@@ -154,6 +156,13 @@ public class Wrist extends Subsystem
setWristControlMode(wristControlMode.JOYSTICK_MANUAL);
}
public void onStart(double timestamp)
{
//mpController.setPID(mpPIDParams);
mpController.setPID(pidPIDParamsLevel);
mpController.setPIDSlot(PID_SLOT);
}
//@Override
public void onLoop(double timestamp)
{
@@ -199,6 +208,11 @@ public class Wrist extends Subsystem
this.isFinished = isFinished;
}
public double getPeriodMs()
{
return periodMs;
}
@Override
public void initDefaultCommand()
{