Team4388/2019-Hit-or-Miss
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Merge branch 'develop' of https://github.com/Team4388/2019-Hit-or-Miss into develop

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lukesta182
2019-03-09 23:03:22 -07:00
parent ca321c68fb 0b025ff367
commit 8f348820f7
2 changed files with 12 additions and 5 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/Robot.java
+1 -1
View File
@@ -99,7 +99,7 @@ public class Robot extends TimedRobot
drive.resetEncoders();
drive.resetGyro();
drive.setIsRed(getAlliance().equals(Alliance.Red));
arm.resetencoder();
arm.resetEncoder();
}
2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java
+11 -4
View File
@@ -21,6 +21,7 @@ import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.SensorCollection;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.Solenoid;
import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -99,6 +100,7 @@ public class Arm extends Subsystem implements ControlLoopable
private PIDParams armPIDParams = new PIDParams(P_Value, I_Value, D_Value, KF_DOWN); // KF gets updated later
public static final double PID_ERROR_INCHES = 5;
LimitSwitchSource limitSwitchSource;
// Pneumatics
private Solenoid speedShift;
@@ -148,7 +150,7 @@ public class Arm extends Subsystem implements ControlLoopable
public void resetZeroPosition(double position) {
mpController.resetZeroPosition(position);
}
public void resetencoder(){
public void resetEncoder(){
motor1.setPosition(0);
}
@@ -228,7 +230,10 @@ public class Arm extends Subsystem implements ControlLoopable
}
public void updatePositionPID(double targetPositionInches) {
targetPositionInchesPID = limitPosition(targetPositionInches);
targetPositionInchesPID = limitPosition(targetPositionInches);
if (limitPosition(motor1.getPositionWorld()) == MIN_POSITION_INCHES){
resetEncoder();
}
double startPositionInches = motor1.getPositionWorld();
//mpController.setTarget(targetPositionInchesPID, targetPositionInchesPID > startPositionInches ? KF_UP : KF_DOWN);
motor1.set(ControlMode.Position, targetPositionInches);
@@ -282,6 +287,10 @@ public class Arm extends Subsystem implements ControlLoopable
}
lastControlLoopUpdateTimestamp = currentTimestamp;
if (motor1.getSensorCollection().isRevLimitSwitchClosed()){
resetEncoder();
}
// Do the update
if (armControlMode == ArmControlMode.JOYSTICK_MANUAL) {
controlManualWithJoystick();
@@ -321,8 +330,6 @@ public class Arm extends Subsystem implements ControlLoopable
double deltaPosition = joystickPosition * joystickInchesPerMs;
targetPositionInchesPID = targetPositionInchesPID + deltaPosition;
updatePositionPID(targetPositionInchesPID);
}
private void controlMMWithJoystick() {
double joystickPosition = -Robot.oi.getOperatorController().getLeftYAxis();