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elevator code fix

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changed last years elevator code to work with this years desine, no closed loop control implemented other than limit switches.
This commit is contained in:
lukesta182
2019-01-19 10:03:34 -07:00
parent 3615e5c257
commit 75f1aea29d
15 changed files with 274 additions and 81 deletions
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.gradle/5.0/fileChanges/last-build.bin
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.gradle/buildOutputCleanup/cache.properties
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@@ -0,0 +1,2 @@
#Fri Jan 18 21:28:34 MST 2019
gradle.version=5.0
.gradle/vcs-1/gc.properties
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2019robot/build.gradle
+3 -2
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@@ -1,6 +1,6 @@
plugins {
id "java"
id "edu.wpi.first.GradleRIO" version "2019.1.1"
id "edu.wpi.first.GradleRIO" version "2019.2.1"
}
def ROBOT_MAIN_CLASS = "org.usfirst.frc4388.robot.Main"
@@ -50,7 +50,8 @@ dependencies {
nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio)
nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
testCompile 'junit:junit:4.12'
compile pathfinder()
//compile Pathfinder()
compile 'jaci.jniloader:JNILoader:1.0.1'
}
// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')
2019robot/src/main/deploy/example.txt
+1 -1
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@@ -1,3 +1,3 @@
Files placed in this directory will be deployed to the RoboRIO into the
'deploy' directory in the home folder. Use the 'FileUtilities.getFilePath' wpilib function
to get a proper path relative to the deploy directory.
to get a proper path relative to the deploy directory.
2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Elevator.java
+31 -78
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@@ -34,31 +34,8 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
public class Elevator extends Subsystem implements ControlLoopable
{
//PID encoder and motor
private CANTalonEncoder elevatorRight;
private WPI_TalonSRX elevatorLeft;
//PID controller Max Scale
private SoftwarePIDPositionController pidPositionControllerMaxScale;
//private PIDParams PositionPIDParamsMaxScale = new PIDParams(2.0, 0.0, 0.0);
private PIDParams PositionPMaxScale;
private CANTalonEncoder elevatorMain;
//PID controller Max Scale
private SoftwarePIDPositionController pidPositionControllerLowScale;
//private PIDParams PositionPIDParamsLowScale = new PIDParams(2.0, 0.0, 0.0);
private PIDParams PositionPLowScale;
//PID controller Max Scale
private SoftwarePIDPositionController pidPositionControllerSwitch;
//private PIDParams PositionPIDParamsSwitch = new PIDParams(2.0, 0.0, 0.0);
private PIDParams PositionPSwitch;
//PID controller Max Scale
private SoftwarePIDPositionController pidPositionControllerLowest;
//private PIDParams PositionPIDParamsLowest = new PIDParams(2.0, 0.0, 0.0);
private PIDParams PositionPLowest;
//PID target
private double targetPPosition;
//Encoder ticks to inches for encoders
public static final double ENCODER_TICKS_TO_INCHES = Constants.kElevatorEncoderTicksPerInch;
@@ -93,37 +70,34 @@ public class Elevator extends Subsystem implements ControlLoopable
try
{
//PID elevator encoder and talon
elevatorRight = new CANTalonEncoder(RobotMap.ELEVATOR_MOTOR1_ID, ENCODER_TICKS_TO_INCHES, FeedbackDevice.QuadEncoder);
elevatorLeft = new WPI_TalonSRX(RobotMap.ELEVATOR_MOTOR2_ID);
elevatorMain = new CANTalonEncoder(RobotMap.ELEVATOR_MOTOR1_ID, ENCODER_TICKS_TO_INCHES, FeedbackDevice.QuadEncoder);
elevatorRight.setInverted(false);
elevatorMain.setInverted(false);
//Setting left elevator motor as follower
elevatorLeft.set(ControlMode.Follower, elevatorRight.getDeviceID());
elevatorLeft.setInverted(false);
elevatorLeft.setNeutralMode(NeutralMode.Brake);
elevatorRight.setNeutralMode(NeutralMode.Brake);
elevatorRight.setSensorPhase(true);
elevatorMain.setNeutralMode(NeutralMode.Brake);
elevatorMain.setSensorPhase(true);
//Limit Switch Left
//elevatorLeft.overrideLimitSwitchesEnable(true);
elevatorLeft.configForwardLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
elevatorLeft.configReverseLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
elevatorMain.configForwardLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
elevatorMain.configReverseLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
//Limit Switch Right
//elevatorRight.overrideLimitSwitchesEnable(true);
//elevatorRight.configForwardLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
//elevatorRight.configReverseLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
//elevatorMain.overrideLimitSwitchesEnable(true);
//elevatorMain.configForwardLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
//elevatorMain.configReverseLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
//Change This boi
// elevatorRight.configForwardSoftLimitThreshold(10000, 0); //right here
//elevatorRight.configReverseSoftLimitThreshold(5, 0);
//elevatorRight.configForwardSoftLimitEnable(true, 0);
//elevatorRight.configReverseSoftLimitEnable(true, 0);
// elevatorMain.configForwardSoftLimitThreshold(10000, 0); //right here
//elevatorMain.configReverseSoftLimitThreshold(5, 0);
//elevatorMain.configForwardSoftLimitEnable(true, 0);
//elevatorMain.configReverseSoftLimitEnable(true, 0);
//sos
//elevatorRight.enableLimitSwitch(true, true);
//elevatorMain.enableLimitSwitch(true, true);
@@ -207,7 +181,7 @@ public class Elevator extends Subsystem implements ControlLoopable
public void resetElevatorEncoder()
{
elevatorRight.setSelectedSensorPosition(0, 0, 0);
elevatorMain.setSelectedSensorPosition(0, 0, 0);
}
public void moveElevatorXbox()
@@ -226,37 +200,37 @@ public class Elevator extends Subsystem implements ControlLoopable
if(elevatorTuningPressed == true)
{
elevatorRight.set(moveElevatorInput * 0.5);
elevatorMain.set(moveElevatorInput * 0.5);
}
else if(elevatorTuningPressed == false)
{
elevatorRight.set(moveElevatorInput);
elevatorMain.set(moveElevatorInput);
}
/*
if(elevatorPos <= elevatorSafeZone && elevatorPos >= 0)
{
elevatorRight.set(moveElevatorInput);
elevatorMain.set(moveElevatorInput);
}
else if(elevatorPos > elevatorSafeZone)
{
elevatorRight.set(moveElevatorInput * 0.65);
elevatorMain.set(moveElevatorInput * 0.65);
if(holdButtonPressed == true)
{
elevatorRight.set(-0.43 * (0.2));
elevatorMain.set(-0.43 * (0.2));
}
else if(holdButtonPressed == false)
{
elevatorRight.set(moveElevatorInput * 0.75);
elevatorMain.set(moveElevatorInput * 0.75);
}
}
else if(elevatorPos < 0)
{
elevatorRight.set(moveElevatorInput * 0.75);
elevatorMain.set(moveElevatorInput * 0.75);
}
*/
}
@@ -268,12 +242,12 @@ public class Elevator extends Subsystem implements ControlLoopable
//PID encoder position
public double getEncoderElevatorPosition()
{
return elevatorRight.getPositionWorld();
return elevatorMain.getPositionWorld();
}
public double getElevatorHeightInchesAboveFloor()
{
return elevatorRight.getPositionWorld();
return elevatorMain.getPositionWorld();
}
public synchronized void setControlMode(DriveControlMode controlMode)
@@ -316,23 +290,23 @@ public class Elevator extends Subsystem implements ControlLoopable
}
*/
public void rawSetOutput(double output){
elevatorRight.set(/*ControlMode.PercentOutput,*/ output);
elevatorMain.set(/*ControlMode.PercentOutput,*/ output);
}
public void holdInPos()
{
elevatorRight.set(-0.43 * 0.2);
elevatorMain.set(-0.43 * 0.2);
}
public void stopMotors()
{
elevatorRight.set(0);
elevatorMain.set(0);
}
public void isSwitchPressed()
{
pressed = false;
isPressed = elevatorRight.getSensorCollection();
isPressed = elevatorMain.getSensorCollection();
if(isPressed.isFwdLimitSwitchClosed() == true)
{
@@ -370,22 +344,6 @@ public class Elevator extends Subsystem implements ControlLoopable
else if (!isFinished)
{
//PID control mode
if(controlMode == DriveControlMode.MOVE_POSITION_MAX_SCALE)
{
isFinished = pidPositionControllerMaxScale.controlLoopUpdate(getEncoderElevatorPosition());
}
else if(controlMode == DriveControlMode.MOVE_POSITION_LOW_SCALE)
{
isFinished = pidPositionControllerLowScale.controlLoopUpdate(getEncoderElevatorPosition());
}
else if(controlMode == DriveControlMode.MOVE_POSITION_SWITCH)
{
isFinished = pidPositionControllerSwitch.controlLoopUpdate(getEncoderElevatorPosition());
}
else if(controlMode == DriveControlMode.MOVE_POSITION_LOWEST)
{
isFinished = pidPositionControllerLowest.controlLoopUpdate(getEncoderElevatorPosition());
}
/*
else if(controlMode == DriveControlMode.RAW)
{
@@ -410,11 +368,6 @@ public class Elevator extends Subsystem implements ControlLoopable
public void setPeriodMs(long periodMs)
{
//PID controller
pidPositionControllerMaxScale = new SoftwarePIDPositionController(PositionPMaxScale, elevatorRight);
pidPositionControllerLowScale = new SoftwarePIDPositionController(PositionPLowScale, elevatorRight);
pidPositionControllerSwitch = new SoftwarePIDPositionController(PositionPSwitch, elevatorRight);
pidPositionControllerLowest = new SoftwarePIDPositionController(PositionPLowest, elevatorRight);
this.periodMs = periodMs;
}
@@ -434,7 +387,7 @@ public class Elevator extends Subsystem implements ControlLoopable
{
try
{
SmartDashboard.putNumber("Elevator Pos Ticks", elevatorRight.getSelectedSensorPosition(0));
SmartDashboard.putNumber("Elevator Pos Ticks", elevatorMain.getSelectedSensorPosition(0));
SmartDashboard.putNumber("Elevator Pos Inches", getElevatorHeightInchesAboveFloor());
//SmartDashboard.putData(pressed);
}
vendordeps/PathfinderOLD.json
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@@ -0,0 +1,85 @@
{
"fileName": "PathfinderOLD.json",
"name": "PathfinderOld",
"version": "2019.1.11",
"uuid": "7194a2d4-2860-4bcc-86c0-97879737d875",
"mavenUrls": [
"https://dev.imjac.in/maven"
],
"jsonUrl": "https://dev.imjac.in/maven/jaci/pathfinder/PathfinderOLD-latest.json",
"cppDependencies": [
{
"groupId": "jaci.pathfinder",
"artifactId": "Pathfinder-Core",
"version": "2019.1.11",
"libName": "pathfinder",
"configuration": "native_pathfinder_old",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"linuxx86-64",
"windowsx86-64",
"osxx86-64",
"linuxathena",
"linuxraspbian"
]
},
{
"groupId": "jaci.pathfinder",
"artifactId": "Pathfinder-FRCSupport",
"version": "2019.1.11",
"libName": "pathfinder_frc",
"configuration": "native_pathfinder_old",
"headerClassifier": "headers",
"binaryPlatforms": []
}
],
"javaDependencies": [
{
"groupId": "jaci.pathfinder",
"artifactId": "Pathfinder-Java",
"version": "2019.1.11"
},
{
"groupId": "jaci.jniloader",
"artifactId": "JNILoader",
"version": "1.0.1"
},
{
"groupId": "jaci.pathfinder",
"artifactId": "Pathfinder-FRCSupport",
"version": "2019.1.11"
}
],
"jniDependencies": [
{
"groupId": "jaci.pathfinder",
"artifactId": "Pathfinder-JNI",
"version": "2019.1.11",
"isJar": true,
"skipInvalidPlatforms": true,
"validPlatforms": [
"linuxx86-64",
"windowsx86-64",
"osxx86-64",
"linuxathena",
"linuxraspbian"
]
},
{
"groupId": "jaci.pathfinder",
"artifactId": "Pathfinder-CoreJNI",
"version": "2019.1.11",
"isJar": true,
"skipInvalidPlatforms": true,
"validPlatforms": [
"linuxx86-64",
"windowsx86-64",
"osxx86-64",
"linuxathena",
"linuxraspbian"
]
}
]
}
vendordeps/Phoenix.json
+87
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@@ -0,0 +1,87 @@
{
"fileName": "Phoenix.json",
"name": "CTRE-Phoenix",
"version": "5.12.1",
"uuid": "ab676553-b602-441f-a38d-f1296eff6537",
"mavenUrls": [
"http://devsite.ctr-electronics.com/maven/release/"
],
"jsonUrl": "http://devsite.ctr-electronics.com/maven/release/com/ctre/phoenix/Phoenix-latest.json",
"javaDependencies": [
{
"groupId": "com.ctre.phoenix",
"artifactId": "api-java",
"version": "5.12.1"
},
{
"groupId": "com.ctre.phoenix",
"artifactId": "wpiapi-java",
"version": "5.12.1"
}
],
"jniDependencies": [
{
"groupId": "com.ctre.phoenix",
"artifactId": "cci",
"version": "5.12.1",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"linuxathena",
"windowsx86-64",
"linuxx86-64"
]
}
],
"cppDependencies": [
{
"groupId": "com.ctre.phoenix",
"artifactId": "wpiapi-cpp",
"version": "5.12.1",
"libName": "CTRE_Phoenix_WPI",
"headerClassifier": "headers",
"sharedLibrary": false,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"linuxathena",
"windowsx86-64",
"linuxx86-64"
]
},
{
"groupId": "com.ctre.phoenix",
"artifactId": "api-cpp",
"version": "5.12.1",
"libName": "CTRE_Phoenix",
"headerClassifier": "headers",
"sharedLibrary": false,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"linuxathena",
"windowsx86-64",
"linuxx86-64"
]
},
{
"groupId": "com.ctre.phoenix",
"artifactId": "cci",
"version": "5.12.1",
"libName": "CTRE_PhoenixCCI",
"headerClassifier": "headers",
"sharedLibrary": false,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"linuxathena",
"windowsx86-64",
"linuxx86-64"
]
},
{
"groupId": "com.ctre.phoenix",
"artifactId": "core",
"version": "5.12.1",
"libName": "CTRE_PhoenixCore",
"headerClassifier": "headers"
}
]
}
vendordeps/REVRobotics.json
+32
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@@ -0,0 +1,32 @@
{
"fileName": "REVRobotics.json",
"name": "REVRobotics",
"version": "1.0.26",
"uuid": "c16ed09f-23df-4beb-87e8-460bd7fa9924",
"mavenUrls": [
"http://www.revrobotics.com/content/sw/max/sdk/maven/"
],
"jsonUrl": "http://www.revrobotics.com/content/sw/max/sdk/REVRobotics.json",
"javaDependencies": [
{
"groupId": "com.revrobotics.frc",
"artifactId": "SparkMax-java",
"version": "1.0.26"
}
],
"jniDependencies": [],
"cppDependencies": [
{
"groupId": "com.revrobotics.frc",
"artifactId": "SparkMax-cpp",
"version": "1.0.26",
"libName": "libSparkMax",
"headerClassifier": "headers",
"sharedLibrary": false,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"linuxathena"
]
}
]
}
vendordeps/navx_frc.json
+33
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@@ -0,0 +1,33 @@
{
"fileName": "navx_frc.json",
"name": "KauaiLabs_navX_FRC",
"version": "3.1.344",
"uuid": "cb311d09-36e9-4143-a032-55bb2b94443b",
"mavenUrls": [
"https://repo1.maven.org/maven2/"
],
"jsonUrl": "https://www.kauailabs.com/dist/frc/2019/navx_frc.json",
"javaDependencies": [
{
"groupId": "com.kauailabs.navx.frc",
"artifactId": "navx-java",
"version": "3.1.344"
}
],
"jniDependencies": [],
"cppDependencies": [
{
"groupId": "com.kauailabs.navx.frc",
"artifactId": "navx-cpp",
"version": "3.1.344",
"headerClassifier": "headers",
"sourcesClassifier": "sources",
"sharedLibrary": false,
"libName": "navx_frc",
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"linuxathena"
]
}
]
}