mirror of
https://github.com/Team4388/2019-Hit-or-Miss.git
synced 2026-06-09 00:28:05 -06:00
customization for josh and max
This commit is contained in:
lukesta182
@@ -96,8 +96,12 @@ public class OI
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JoystickButton CloseIntake = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.RIGHT_BUMPER_BUTTON);
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CloseIntake.whenPressed(new IntakePosition(false));
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*/
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JoystickButton lowheight = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.B_BUTTON);
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lowheight.whenPressed(new GrabFromLoadingSatation());
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JoystickButton stow = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.B_BUTTON);
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stow.whenPressed(new ArmStow());
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JoystickButton lowHeight = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.LEFT_JOYSTICK_BUTTON);
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lowHeight.whenPressed(new GrabFromLoadingSatation());
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SmartDashboard.putData("switch to manuel", new SetManual());
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SmartDashboard.putData("run arm test", new ArmTest());
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@@ -0,0 +1,38 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2018 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package org.usfirst.frc4388.robot.commands;
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import edu.wpi.first.wpilibj.command.CommandGroup;
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public class ArmStow extends CommandGroup {
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/**
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* Add your docs here.
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*/
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public ArmStow() {
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addSequential(new WristSetPositionPID(0), 1);
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addParallel(new HatchFlip(false));
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addParallel(new WristPlacement(true));
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addSequential(new ArmSetPositionMM(10));
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// e.g. addSequential(new Command1());
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// addSequential(new Command2());
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// these will run in order.
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// To run multiple commands at the same time,
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// use addParallel()
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// e.g. addParallel(new Command1());
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// addSequential(new Command2());
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// Command1 and Command2 will run in parallel.
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// A command group will require all of the subsystems that each member
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// would require.
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// e.g. if Command1 requires chassis, and Command2 requires arm,
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// a CommandGroup containing them would require both the chassis and the
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// arm.
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}
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}
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@@ -12,7 +12,6 @@ import org.usfirst.frc4388.utility.TalonSRXEncoder;
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import org.usfirst.frc4388.utility.TalonSRXFactory;
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import com.ctre.phoenix.motorcontrol.ControlMode;
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import com.ctre.phoenix.motorcontrol.DemandType;
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import com.ctre.phoenix.motorcontrol.FeedbackDevice;
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import com.ctre.phoenix.motorcontrol.can.TalonSRX;
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import com.ctre.phoenix.motorcontrol.LimitSwitchSource;
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@@ -32,11 +31,12 @@ public class Arm extends Subsystem implements ControlLoopable
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{
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private static Arm instance;
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public static enum ArmControlMode { MOTION_PROFILE, JOYSTICK_PID, JOYSTICK_MANUAL, MANUAL, MOTION_MAGIC};
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public static enum ArmControlMode { MOTION_PROFILE, JOYSTICK_PID, JOYSTICK_MANUAL, MANUAL };
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public static enum ArmPositionMode { CARGO, HATCH };
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// One revolution of the 30T Drive 1.880" PD pulley = Pi * PD inches = 36/24 revs due to pulleys * 34/24 revs due to gears * 36/12 revs due mag encoder gear on ball shifter * 4096 ticks
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public static final double ENCODER_TICKS_TO_INCHES = (1);
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// One revolution of the 30T Drive 1.880" PD pulley = Pi * PD inches = 36/24 revs due to pulleys * 34/24 revs due to gears * 36/12 revs due mag encoder gear on ball shifter * 4096 ticks
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public static final double ENCODER_TICKS_TO_INCHES = (1);
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private double periodMs;
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private double lastControlLoopUpdatePeriod = 0.0;
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@@ -48,7 +48,7 @@ public class Arm extends Subsystem implements ControlLoopable
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public static final double AUTO_ZERO_SPEED = -0.3;
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public static final double JOYSTICK_INCHES_PER_MS_HI = 20;
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public static final double JOYSTICK_INCHES_PER_MS_LO = 20;
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// Defined positions
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public static final double ZERO_POSITION_AUTON_FORWARD_INCHES = 8.0;
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public static final double ZERO_POSITION_INCHES = -0.25;
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@@ -57,7 +57,16 @@ public class Arm extends Subsystem implements ControlLoopable
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public static final double MAX_POSITION_INCHES = 3900;
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public static final double AFTER_INTAKE_POSITION_INCHES = 4.0;
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public static final double SWITCH_POSITION_INCHES = 24.0;
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public static final double HATCH_LOW_POSITION_WORLD = 135;
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public static final double HATCH_MID_POSITION_WORLD = 2400;
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public static final double HATCH_HIGH_POSITION_WORLD = 3800;
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public static final double CARGO_LOW_POSITION_WORLD = 1500;
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public static final double CARGO_MID_POSITION_WORLD = 2900;
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public static final double CARGO_HIGH_POSITION_WORLD = 4300;
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public static final double CARGO_PICKUP_POSITION_WORLD = 0;
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public static final double HATCH_PICKUP_POSITION_WORLD = 0;
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/*public static final double SWITCH_POSITION_INCHES = 24.0;
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public static final double SWITCH_POSITION_HIGH_INCHES = 36.0; //Switch Position for First Cube APR
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public static final double SCALE_LOW_POSITION_INCHES = 56.0;
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public static final double SCALE_FIRST_CUBE_POSITION_INCHES = 78.0; //72.0
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@@ -65,83 +74,70 @@ public class Arm extends Subsystem implements ControlLoopable
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public static final double SCALE_HIGH_POSITION_INCHES = MAX_POSITION_INCHES;
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public static final double CLIMB_BAR_POSITION_INCHES = 70.0;
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public static final double CLIMB_HIGH_POSITION_INCHES = 10.0;
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public static final double CLIMB_ASSIST_POSITION_INCHES = 50.0;
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public static final double CLIMB_ASSIST_POSITION_INCHES = 50.0;*/
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// Motion profile max velocities and accel times
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public static final double MP_MAX_VELOCITY_INCHES_PER_SEC = 60;
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public static final double MP_MAX_VELOCITY_INCHES_PER_SEC = 60;
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public static final double MP_T1 = 400; // Fast = 300
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public static final double MP_T2 = 150; // Fast = 150
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// Motor controllers
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private ArrayList<TalonSRXEncoder> motorControllers = new ArrayList<TalonSRXEncoder>();
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private ArrayList<TalonSRXEncoder> motorControllers = new ArrayList<TalonSRXEncoder>();
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private TalonSRXEncoder motor1;
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private TalonSRX motor2;
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// PID controller and params
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private MPTalonPIDController mpController;
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public static int PID_SLOT = 0;
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public static int MM_SLOT = 1;
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public static int MP_SLOT = 2;
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private PIDParams mpPIDParams = new PIDParams(0.2, 0.0, 0.0, 0.0, 0.005, 0.0);
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private PIDParams pidPIDParamsHiGear = new PIDParams(0.075, 0.0, 0.0, 0.0, 0.0, 0.0);
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public static final double KF_UP = 1;//0.01;
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public static final double KF_DOWN = 0;// 0.0;
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public static final double P_Value = 0.5;// 2;
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public static final double I_Value = 0.0005;// 0.00030;
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public static final double D_Value = 100;// 200;
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public static final double F_Value = 0.75; // 1023 / 1360 max speed (ticks/100ms)
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public static final double maxGravityComp = 0.08;
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public static final double RampRate = 0;// 0.0;
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public static final int A_value = 450;
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public static final int CV_value = 740;
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public static int MP_SLOT = 1;
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private PIDParams mpPIDParams = new PIDParams(0.2, 0.0, 0.0, 0.0, 0.005, 0.0);
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private PIDParams pidPIDParamsHiGear = new PIDParams(0.075, 0.0, 0.0, 0.0, 0.0, 0.0);
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public static final double KF_UP = 0.01;
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public static final double KF_DOWN = 0.0;
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public static final double P_Value = 2;
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public static final double I_Value = 0.00030;
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public static final double D_Value = 200;
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public static final double RampRate = 0.0;
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private PIDParams armPIDParams = new PIDParams(P_Value, I_Value, D_Value, KF_DOWN); // KF gets updated later
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public static final double PID_ERROR_INCHES = 5;
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LimitSwitchSource limitSwitchSource;
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// Pneumatics
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private Solenoid speedShift;
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//DPAD
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public static final double DPAD_UP = 0;
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public static final double DPAD_RIGHT = 90;
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public static final double DPAD_DOWN = 180;
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public static final double DPAD_LEFT = 270;
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public static final double DPAD_RELEASED = -1;
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// Misc
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public static final double AUTO_ZERO_MOTOR_CURRENT = 4.0;
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public static final double AUTO_ZERO_MOTOR_CURRENT = 4.0;
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private boolean isFinished;
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private ArmControlMode armControlMode = ArmControlMode.JOYSTICK_MANUAL;
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public ArmPositionMode armPositionMode = ArmPositionMode.HATCH;
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private double targetPositionInchesPID = 0;
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private double targetPositionInchesMM = 0;
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private boolean firstMpPoint;
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private double joystickInchesPerMs = JOYSTICK_INCHES_PER_MS_LO;
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private double p = 0;
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public Arm() {
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try {
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motor1 = TalonSRXFactory.createTalonEncoder(RobotMap.ARM_MOTOR1_ID, (ENCODER_TICKS_TO_INCHES), false, FeedbackDevice.QuadEncoder);
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motor2 = TalonSRXFactory.createPermanentSlaveTalon(RobotMap.ARM_MOTOR2_ID, RobotMap.ARM_MOTOR1_ID);
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motor1.setInverted(true);
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motor2.setInverted(true);
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// if (motor1.isSensorPresent(CANTalon.FeedbackDevice.QuadEncoder) != CANTalon.FeedbackDeviceStatus.FeedbackStatusPresent) {
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// Driver.reportError("Could not detect elevator motor 1 encoder encoder!", false);
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// }
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motor1.configNominalOutputForward(0, TalonSRXEncoder.TIMEOUT_MS);
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motor1.configNominalOutputReverse(0, TalonSRXEncoder.TIMEOUT_MS);
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motor1.configPeakOutputForward(1, TalonSRXEncoder.TIMEOUT_MS);
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motor1.configPeakOutputReverse(-1, TalonSRXEncoder.TIMEOUT_MS);
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motor1.selectProfileSlot(MM_SLOT, 0);
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motor1.config_kF(MM_SLOT, F_Value, TalonSRXEncoder.TIMEOUT_MS);
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motor1.config_kP(MM_SLOT, P_Value, TalonSRXEncoder.TIMEOUT_MS);
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motor1.config_kI(MM_SLOT, I_Value, TalonSRXEncoder.TIMEOUT_MS);
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motor1.config_kD(MM_SLOT, D_Value, TalonSRXEncoder.TIMEOUT_MS);
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motor1.configForwardLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
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motor1.configReverseLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
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@@ -149,9 +145,8 @@ public class Arm extends Subsystem implements ControlLoopable
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motor2.setNeutralMode(NeutralMode.Brake);
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motor1.enableCurrentLimit(true);
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motorControllers.add(motor1);
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//motor1.setSelectedSensorPosition(0, , );
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}
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catch (Exception e) {
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System.err.println("An error occurred in the Arm constructor");
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@@ -161,79 +156,55 @@ public class Arm extends Subsystem implements ControlLoopable
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@Override
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public void initDefaultCommand() {
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}
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public void resetZeroPosition(double position) {
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mpController.resetZeroPosition(position);
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}
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}
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public void resetEncoder(){
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motor1.setPosition(0);
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}
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private synchronized void setArmControlMode(ArmControlMode controlMode) {
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this.armControlMode = controlMode;
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}
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private synchronized ArmControlMode getArmControlMode() {
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return this.armControlMode;
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}
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public synchronized void setArmPositionMode(ArmPositionMode controlMode) {
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this.armPositionMode = controlMode;
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}
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private synchronized ArmPositionMode getArmPositionMode() {
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return this.armPositionMode;
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}
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public void setSpeed(double speed) {
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motor1.set(ControlMode.PercentOutput, speed);
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setArmControlMode(ArmControlMode.MANUAL);
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}
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public void setSpeedJoystick(double speed) {
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motor1.set(ControlMode.PercentOutput, speed);
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setArmControlMode(ArmControlMode.JOYSTICK_MANUAL);
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}
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public void setPositionMM(double targetPositionInches){
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motor1.set(ControlMode.MotionMagic, targetPositionInches);
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System.err.println(motor1.getControlMode());
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motor1.selectProfileSlot(MM_SLOT, 0);
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setArmControlMode(ArmControlMode.MOTION_MAGIC);
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updatePositionMM(targetPositionInches);
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setFinished(false);
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}
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public double calcGravityCompensationAtCurrentPosition() {
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int ticks = motor1.getSelectedSensorPosition();
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double degreesFromDown = (ticks+920)*(360.0/(4096*3));
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double compensation = maxGravityComp * Math.sin(degreesFromDown*Math.PI/180);
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System.err.println("comp(" + degreesFromDown + "^) = " + compensation);
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return compensation;
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}
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public void updatePositionMM(double targetPositionInches){
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targetPositionInchesMM = limitPosition(targetPositionInches);
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//double startPositionInches = motor1.getPositionWorld();
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double compensation = calcGravityCompensationAtCurrentPosition();
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//System.err.println("compensation = " + compensation);
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// motor1.set(ControlMode.MotionMagic, targetPositionInches);
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motor1.set(ControlMode.MotionMagic, targetPositionInches, DemandType.ArbitraryFeedForward, compensation);
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//System.err.println(motor1.getControlMode());
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motor1.configMotionCruiseVelocity(CV_value, TalonSRXEncoder.TIMEOUT_MS);
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motor1.configMotionAcceleration(A_value, TalonSRXEncoder.TIMEOUT_MS);
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}
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public void setPositionPID(double targetPositionInches) {
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motor1.set(ControlMode.Position, targetPositionInches);
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mpController.setPIDSlot(PID_SLOT); //TODO: verify that motor's selectProfileSlot() should be called AFTER its control mode is set
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updatePositionPID(targetPositionInches);
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setArmControlMode(ArmControlMode.JOYSTICK_PID);
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setArmControlMode(ArmControlMode.JOYSTICK_PID);
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setFinished(false);
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}
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public void updatePositionPID(double targetPositionInches) {
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targetPositionInchesPID = limitPosition(targetPositionInches);
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if (limitPosition(motor1.getPositionWorld()) == MIN_POSITION_INCHES){
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resetEncoder();
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}
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double startPositionInches = motor1.getPositionWorld();
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//mpController.setTarget(targetPositionInchesPID, targetPositionInchesPID > startPositionInches ? KF_UP : KF_DOWN);
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//mpController.setTarget(targetPositionInchesPID, targetPositionInchesPID > startPositionInches ? KF_UP : KF_DOWN);
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motor1.set(ControlMode.Position, targetPositionInches);
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motor1.configClosedloopRamp(0);
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//motor1.configPeakCurrentLimit(5);
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@@ -245,15 +216,15 @@ public class Arm extends Subsystem implements ControlLoopable
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//System.err.println(motor1.getControlMode());
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//System.err.print(motor1.getClosedLoopError());
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}
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public void setPositionMP(double targetPositionInches) {
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double startPositionInches = motor1.getPositionWorld();
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mpController.setMPTarget(startPositionInches, limitPosition(targetPositionInches), MP_MAX_VELOCITY_INCHES_PER_SEC, MP_T1, MP_T2);
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mpController.setMPTarget(startPositionInches, limitPosition(targetPositionInches), MP_MAX_VELOCITY_INCHES_PER_SEC, MP_T1, MP_T2);
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setFinished(false);
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firstMpPoint = true;
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setArmControlMode(ArmControlMode.MOTION_PROFILE);
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}
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private double limitPosition(double targetPosition) {
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if (targetPosition < MIN_POSITION_INCHES) {
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return MIN_POSITION_INCHES;
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@@ -261,7 +232,7 @@ public class Arm extends Subsystem implements ControlLoopable
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else if (targetPosition > MAX_POSITION_INCHES) {
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return MAX_POSITION_INCHES;
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}
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|
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return targetPosition;
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}
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@Override
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@@ -272,6 +243,51 @@ public class Arm extends Subsystem implements ControlLoopable
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mpController.setPIDSlot(PID_SLOT);
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this.periodMs = periodMs;
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}
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/*@Override
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public void onStart(double timestamp) {
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mpController = new MPTalonPIDController(periodMs, motorControllers);
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mpController.setPID(mpPIDParams, MP_SLOT);
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mpController.setPID(pidPIDParamsHiGear, PID_SLOT);
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mpController.setPIDSlot(PID_SLOT);
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mpController.setPID(pidPIDParamsHiGear, PID_SLOT);
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mpController.setPIDSlot(PID_SLOT);
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}
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@Override
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public void onStop(double timestamp) {
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// TODO Auto-generated method stub
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||||
|
||||
}
|
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|
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@Override
|
||||
public void onLoop(double timestamp) {
|
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synchronized (Arm.this) {
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switch( getElevatorControlMode() ) {
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case JOYSTICK_PID:
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controlPidWithJoystick();
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break;
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case JOYSTICK_MANUAL:
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controlManualWithJoystick();
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break;
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case MOTION_PROFILE:
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if (!isFinished()) {
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if (firstMpPoint) {
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mpController.setPIDSlot(MP_SLOT);
|
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firstMpPoint = false;
|
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}
|
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setFinished(mpController.controlLoopUpdate());
|
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if (isFinished()) {
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mpController.setPIDSlot(PID_SLOT);
|
||||
}
|
||||
}
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break;
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default:
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break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
*/
|
||||
|
||||
|
||||
|
||||
@@ -284,7 +300,7 @@ public class Arm extends Subsystem implements ControlLoopable
|
||||
lastControlLoopUpdatePeriod = currentTimestamp - lastControlLoopUpdateTimestamp;
|
||||
}
|
||||
lastControlLoopUpdateTimestamp = currentTimestamp;
|
||||
|
||||
|
||||
if (motor1.getSensorCollection().isRevLimitSwitchClosed()){
|
||||
resetEncoder();
|
||||
}
|
||||
@@ -295,58 +311,69 @@ public class Arm extends Subsystem implements ControlLoopable
|
||||
}
|
||||
else if (!isFinished) {
|
||||
if (armControlMode == ArmControlMode.MOTION_PROFILE) {
|
||||
isFinished = mpController.controlLoopUpdate(getPositionInches());
|
||||
|
||||
isFinished = mpController.controlLoopUpdate(getPositionInches());
|
||||
|
||||
}
|
||||
if (armControlMode == ArmControlMode.JOYSTICK_PID){
|
||||
controlPidWithJoystick();
|
||||
System.err.println(motor1.getControlMode());
|
||||
}
|
||||
if (armControlMode == ArmControlMode.MOTION_MAGIC){
|
||||
controlMMWithJoystick();
|
||||
//System.err.println(motor1.getControlMode());
|
||||
int dPadAngle = Robot.oi.getOperatorController().getDpadAngle();
|
||||
if (dPadAngle == DPAD_RELEASED){
|
||||
controlPidWithJoystick();
|
||||
} else {
|
||||
controlPidWithDPad(dPadAngle);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/*else if (armControlMode == ArmControlMode.MP_PATH_VELOCITY) {
|
||||
isFinished = mpPathVelocityController.controlLoopUpdate(getGyroAngleDeg());
|
||||
isFinished = mpPathVelocityController.controlLoopUpdate(getGyroAngleDeg());
|
||||
}
|
||||
else if (armControlMode == ArmControlMode.ADAPTIVE_PURSUIT) {
|
||||
updatePose();
|
||||
isFinished = adaptivePursuitController.controlLoopUpdate(currentPose);
|
||||
isFinished = adaptivePursuitController.controlLoopUpdate(currentPose);
|
||||
}*/
|
||||
}
|
||||
}
|
||||
|
||||
private void controlPidWithDPad(int dPadAngle){
|
||||
if (armPositionMode == ArmPositionMode.HATCH){
|
||||
if (dPadAngle == DPAD_UP){
|
||||
updatePositionPID(HATCH_HIGH_POSITION_WORLD);
|
||||
} else if (dPadAngle == DPAD_RIGHT){
|
||||
updatePositionPID(HATCH_MID_POSITION_WORLD);
|
||||
} else if (dPadAngle == DPAD_DOWN){
|
||||
setPositionPID(HATCH_LOW_POSITION_WORLD);
|
||||
} else if (dPadAngle == DPAD_LEFT){
|
||||
//updatePositionPID(HATCH_PICKUP_POSITION_WORLD);
|
||||
}
|
||||
} else if (armPositionMode == ArmPositionMode.CARGO){
|
||||
if (dPadAngle == DPAD_UP){
|
||||
updatePositionPID(CARGO_HIGH_POSITION_WORLD);
|
||||
} else if (dPadAngle == DPAD_RIGHT){
|
||||
updatePositionPID(CARGO_MID_POSITION_WORLD);
|
||||
} else if (dPadAngle == DPAD_DOWN){
|
||||
updatePositionPID(CARGO_LOW_POSITION_WORLD);
|
||||
} else if (dPadAngle == DPAD_LEFT){
|
||||
//updatePositionPID(CARGO_PICKUP_POSITION_WORLD);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
private void controlPidWithJoystick() {
|
||||
double joystickPosition = -Robot.oi.getOperatorController().getLeftYAxis();
|
||||
double deltaPosition = joystickPosition * joystickInchesPerMs;
|
||||
targetPositionInchesPID = targetPositionInchesPID + deltaPosition;
|
||||
updatePositionPID(targetPositionInchesPID);
|
||||
}
|
||||
private void controlMMWithJoystick() {
|
||||
double joystickPosition = -Robot.oi.getOperatorController().getLeftYAxis();
|
||||
double deltaPosition = joystickPosition * joystickInchesPerMs;
|
||||
targetPositionInchesMM = targetPositionInchesMM + deltaPosition;
|
||||
updatePositionMM(targetPositionInchesMM);
|
||||
|
||||
|
||||
}
|
||||
|
||||
private void ControlWithJoystickhold(){
|
||||
double holdPosition = motor1.getPositionWorld();
|
||||
updatePositionPID(holdPosition);
|
||||
|
||||
}
|
||||
|
||||
|
||||
private void controlManualWithJoystick() {
|
||||
double joyStickSpeed = -Robot.oi.getOperatorController().getLeftYAxis();
|
||||
setSpeedJoystick((joyStickSpeed*.3)+.08);
|
||||
setSpeedJoystick((joyStickSpeed*.30)+.1);
|
||||
}
|
||||
/*
|
||||
public void setShiftState(ElevatorSpeedShiftState state) {
|
||||
@@ -361,7 +388,7 @@ public class Arm extends Subsystem implements ControlLoopable
|
||||
mpController.setPID(pidPIDParamsLoGear, PID_SLOT);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
public ElevatorSpeedShiftState getShiftState() {
|
||||
return shiftState;
|
||||
}
|
||||
@@ -369,51 +396,49 @@ public class Arm extends Subsystem implements ControlLoopable
|
||||
public double getPositionInches() {
|
||||
return motor1.getPositionWorld();
|
||||
}
|
||||
|
||||
|
||||
// public double getAverageMotorCurrent() {
|
||||
// return (Robot.pdp.getCurrent(RobotMap.ELEVATOR_MOTOR_1_CAN_ID) + Robot.pdp.getCurrent(RobotMap.ELEVATOR_MOTOR_2_CAN_ID) + Robot.pdp.getCurrent(RobotMap.ELEVATOR_MOTOR_3_CAN_ID)) / 3;
|
||||
// }
|
||||
|
||||
|
||||
public double getAverageMotorCurrent() {
|
||||
return (motor1.getOutputCurrent() + motor2.getOutputCurrent()) / 2;
|
||||
}
|
||||
|
||||
|
||||
public synchronized boolean isFinished() {
|
||||
return isFinished;
|
||||
}
|
||||
|
||||
|
||||
public synchronized void setFinished(boolean isFinished) {
|
||||
this.isFinished = isFinished;
|
||||
}
|
||||
|
||||
|
||||
public double getPeriodMs() {
|
||||
return periodMs;
|
||||
}
|
||||
|
||||
|
||||
public void updateStatus(Robot.OperationMode operationMode) {
|
||||
//System.err.println("the encoder is right after this");
|
||||
try {
|
||||
|
||||
SmartDashboard.putNumber("Arm Position Ticks", motor1.getPositionWorld());
|
||||
//SmartDashboard.putNumber("Arm Motor 1 Amps", motor1.getOutputCurrent());
|
||||
//SmartDashboard.putNumber("Arm Motor 2 Amps", motor2.getOutputCurrent());
|
||||
SmartDashboard.putNumber("sensor vel", motor1.getSelectedSensorVelocity());
|
||||
|
||||
SmartDashboard.putNumber("Arm Position", motor1.getPositionWorld());
|
||||
SmartDashboard.putNumber("Arm Motor 1 Amps", motor1.getOutputCurrent());
|
||||
SmartDashboard.putNumber("Arm Motor 2 Amps", motor2.getOutputCurrent());
|
||||
SmartDashboard.putNumber("Arm Average Amps", getAverageMotorCurrent());
|
||||
SmartDashboard.putNumber("arm pid error", motor1.getClosedLoopError());
|
||||
SmartDashboard.putNumber("arm motor output", motor1.getMotorOutputPercent());
|
||||
SmartDashboard.putNumber("Arm Target MM Position", targetPositionInchesMM);
|
||||
//SmartDashboard.putNumber("arm output", motor1.getMotorOutputPercent());
|
||||
|
||||
// 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));
|
||||
// SmartDashboard.putNumber("Elevator Motor 3 Amps PDP", Robot.pdp.getCurrent(RobotMap.ELEVATOR_MOTOR_3_CAN_ID));
|
||||
SmartDashboard.putNumber("Arm Target PID Position", targetPositionInchesPID);
|
||||
}
|
||||
catch (Exception e) {
|
||||
System.err.println("Arm update status error" +e.getMessage());
|
||||
System.err.println("Drivetrain update status error" +e.getMessage());
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
public static Arm getInstance() {
|
||||
if(instance == null) {
|
||||
instance = new Arm();
|
||||
|
||||
@@ -9,6 +9,7 @@ package org.usfirst.frc4388.robot.subsystems;
|
||||
|
||||
import java.util.HashMap;
|
||||
|
||||
import org.usfirst.frc4388.robot.Robot;
|
||||
import org.usfirst.frc4388.robot.constants.LEDPatterns;
|
||||
|
||||
import edu.wpi.first.wpilibj.Spark;
|
||||
@@ -25,7 +26,6 @@ import edu.wpi.first.wpilibj.command.Subsystem;
|
||||
|
||||
public LED(){
|
||||
setPattern(LEDPatterns.C1_HEARTBEAT_FAST);
|
||||
LEDController.set(currentLED);
|
||||
}
|
||||
|
||||
public void periodic() {
|
||||
|
||||
Reference in New Issue
Block a user