Team4388/2019-Hit-or-Miss
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chanmged varables

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lukesta182
2019-02-17 14:40:17 -07:00
parent a0bbd82051
commit 5bf04716bb
1 changed files with 16 additions and 18 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java
+16 -18
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@@ -73,8 +73,7 @@ public class Wrist extends Subsystem implements ControlLoopable
// Motor controllers
private ArrayList<TalonSRXEncoder> motorControllers = new ArrayList<TalonSRXEncoder>();
private TalonSRXEncoder motor1;
private TalonSRX motor2;
private TalonSRXEncoder wristmotor1;
// PID controller and params
private MPTalonPIDController mpController;
@@ -102,19 +101,19 @@ public class Wrist extends Subsystem implements ControlLoopable
public Wrist() {
try {
motor1 = TalonSRXFactory.createTalonEncoder(RobotMap.WRIST_MOTOR_ID, (ENCODER_TICKS_TO_INCHES), false, FeedbackDevice.QuadEncoder);
wristmotor1 = TalonSRXFactory.createTalonEncoder(RobotMap.WRIST_MOTOR_ID, (ENCODER_TICKS_TO_INCHES), false, FeedbackDevice.QuadEncoder);
motor1.setInverted(true);
wristmotor1.setInverted(true);
// if (motor1.isSensorPresent(CANTalon.FeedbackDevice.QuadEncoder) != CANTalon.FeedbackDeviceStatus.FeedbackStatusPresent) {
// Driver.reportError("Could not detect elevator motor 1 encoder encoder!", false);
// }
motor1.configForwardLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
motor1.configReverseLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
motor1.setNeutralMode(NeutralMode.Brake);
wristmotor1.configForwardLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
wristmotor1.configReverseLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
wristmotor1.setNeutralMode(NeutralMode.Brake);
motorControllers.add(motor1);
motorControllers.add(wristmotor1);
}
@@ -140,12 +139,12 @@ public class Wrist extends Subsystem implements ControlLoopable
}
public void setSpeed(double speed) {
motor1.set(ControlMode.PercentOutput, speed*0.3);
wristmotor1.set(ControlMode.PercentOutput, speed*0.3);
setWristControlMode(WristControlMode.MANUAL);
}
public void setSpeedJoystick(double speed) {
motor1.set(ControlMode.PercentOutput, speed);
wristmotor1.set(ControlMode.PercentOutput, speed);
setWristControlMode(WristControlMode.JOYSTICK_MANUAL);
}
@@ -158,12 +157,12 @@ public class Wrist extends Subsystem implements ControlLoopable
public void updatePositionPID(double targetPositionInches) {
targetPositionInchesPID = limitPosition(targetPositionInches);
double startPositionInches = motor1.getPositionWorld();
double startPositionInches = wristmotor1.getPositionWorld();
mpController.setTarget(targetPositionInchesPID, targetPositionInchesPID > startPositionInches ? KF_UP : KF_DOWN);
}
public void setPositionMP(double targetPositionInches) {
double startPositionInches = motor1.getPositionWorld();
double startPositionInches = wristmotor1.getPositionWorld();
mpController.setMPTarget(startPositionInches, limitPosition(targetPositionInches), MP_MAX_VELOCITY_INCHES_PER_SEC, MP_T1, MP_T2);
setFinished(false);
firstMpPoint = true;
@@ -281,7 +280,7 @@ public class Wrist extends Subsystem implements ControlLoopable
}
private void ControlWithJoystickhold(){
double holdPosition = motor1.getPositionWorld();
double holdPosition = wristmotor1.getPositionWorld();
updatePositionPID(holdPosition);
}
@@ -309,7 +308,7 @@ public class Wrist extends Subsystem implements ControlLoopable
}
*/
public double getPositionInches() {
return motor1.getPositionWorld();
return wristmotor1.getPositionWorld();
}
// public double getAverageMotorCurrent() {
@@ -317,7 +316,7 @@ public class Wrist extends Subsystem implements ControlLoopable
// }
public double getAverageMotorCurrent() {
return (motor1.getOutputCurrent() + motor2.getOutputCurrent()) / 2;
return (wristmotor1.getOutputCurrent());
}
public synchronized boolean isFinished() {
@@ -335,9 +334,8 @@ public class Wrist extends Subsystem implements ControlLoopable
public void updateStatus(Robot.OperationMode operationMode) {
if (operationMode == Robot.OperationMode.TEST) {
try {
SmartDashboard.putNumber("Elevator Position Inches", motor1.getPositionWorld());
SmartDashboard.putNumber("Elevator Motor 1 Amps", motor1.getOutputCurrent());
SmartDashboard.putNumber("Elevator Motor 2 Amps", motor2.getOutputCurrent());
SmartDashboard.putNumber("Elevator Position Inches", wristmotor1.getPositionWorld());
SmartDashboard.putNumber("Elevator Motor 1 Amps", wristmotor1.getOutputCurrent());
SmartDashboard.putNumber("Elevator Average Amps", getAverageMotorCurrent());
// SmartDashboard.putNumber("Elevator Motor 1 Amps PDP", Robot.pdp.getCurrent(RobotMap.ELEVATOR_MOTOR_1_CAN_ID));
// SmartDashboard.putNumber("Elevator Motor 2 Amps PDP", Robot.pdp.getCurrent(RobotMap.ELEVATOR_MOTOR_2_CAN_ID));