mirror of
https://github.com/Team4388/2019-Hit-or-Miss.git
synced 2026-06-09 00:28:05 -06:00
Merge branch 'relative-wrist' into develop-2-electric-boogaloo
This commit is contained in:
HFocus
@@ -38,9 +38,9 @@ public class Arm extends Subsystem implements ControlLoopable
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public static enum ArmControlMode { MOTION_PROFILE, JOYSTICK_PID, JOYSTICK_MANUAL, MANUAL, MOTION_MAGIC};
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public static enum PlaceMode { HATCH, CARGO };
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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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@@ -52,7 +52,7 @@ 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 = 35;
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public static final double JOYSTICK_INCHES_PER_MS_LO = 35;
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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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@@ -72,16 +72,16 @@ public class Arm extends Subsystem implements ControlLoopable
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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 = 300; // 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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public 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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@@ -89,8 +89,8 @@ public class Arm extends Subsystem implements ControlLoopable
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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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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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@@ -108,12 +108,12 @@ public class Arm extends Subsystem implements ControlLoopable
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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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// 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.MOTION_MAGIC;
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public PlaceMode placeMode = PlaceMode.HATCH;
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@@ -123,20 +123,20 @@ public class Arm extends Subsystem implements ControlLoopable
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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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@@ -155,8 +155,8 @@ public class Arm extends Subsystem implements ControlLoopable
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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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@@ -166,21 +166,21 @@ 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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targetPositionInchesMM = 0;
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targetPositionInchesPID = 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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@@ -189,7 +189,7 @@ public class Arm extends Subsystem implements ControlLoopable
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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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@@ -220,25 +220,25 @@ public class Arm extends Subsystem implements ControlLoopable
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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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@@ -250,15 +250,15 @@ 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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@@ -266,7 +266,7 @@ public class Arm extends Subsystem implements ControlLoopable
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if (targetPosition > MAX_POSITION_INCHES) {
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return MAX_POSITION_INCHES;
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}
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return targetPosition;
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}
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@Override
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@@ -320,7 +320,7 @@ public class Arm extends Subsystem implements ControlLoopable
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lastControlLoopUpdateTimestamp = currentTimestamp;
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dPadButtons();
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if (motor1.getSensorCollection().isRevLimitSwitchClosed()){
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resetEncoder();
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}
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@@ -331,8 +331,8 @@ public class Arm extends Subsystem implements ControlLoopable
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}
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else if (!isFinished) {
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if (armControlMode == ArmControlMode.MOTION_PROFILE) {
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isFinished = mpController.controlLoopUpdate(getPositionInches());
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isFinished = mpController.controlLoopUpdate(getPositionInches());
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}
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if (armControlMode == ArmControlMode.JOYSTICK_PID){
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controlPidWithJoystick();
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@@ -342,13 +342,13 @@ public class Arm extends Subsystem implements ControlLoopable
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controlMMWithJoystick();
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//System.err.println(motor1.getControlMode());
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}
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/*else if (armControlMode == ArmControlMode.MP_PATH_VELOCITY) {
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isFinished = mpPathVelocityController.controlLoopUpdate(getGyroAngleDeg());
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isFinished = mpPathVelocityController.controlLoopUpdate(getGyroAngleDeg());
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}
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else if (armControlMode == ArmControlMode.ADAPTIVE_PURSUIT) {
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updatePose();
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isFinished = adaptivePursuitController.controlLoopUpdate(currentPose);
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isFinished = adaptivePursuitController.controlLoopUpdate(currentPose);
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}*/
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}
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}
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@@ -358,7 +358,7 @@ public class Arm extends Subsystem implements ControlLoopable
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private void controlPidWithJoystick() {
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double joystickPosition = -Robot.oi.getOperatorController().getLeftYAxis();
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double deltaPosition = joystickPosition * joystickInchesPerMs;
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@@ -370,8 +370,10 @@ public class Arm extends Subsystem implements ControlLoopable
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double deltaPosition = joystickPosition * joystickInchesPerMs;
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targetPositionInchesMM = targetPositionInchesMM + deltaPosition;
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updatePositionMM(targetPositionInchesMM);
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Wrist.targetPositionInchesPID = targetPositionInchesPID - (deltaPosition/3);
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Robot.wrist.updatePositionPID(Wrist.targetPositionInchesPID);
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}
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private void ControlWithJoystickhold(){
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@@ -379,7 +381,7 @@ public class Arm extends Subsystem implements ControlLoopable
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updatePositionPID(holdPosition);
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}
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private void controlManualWithJoystick() {
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double joyStickSpeed = -Robot.oi.getOperatorController().getLeftYAxis();
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setSpeedJoystick((joyStickSpeed*.3)+.08);
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@@ -397,7 +399,7 @@ public class Arm extends Subsystem implements ControlLoopable
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mpController.setPID(pidPIDParamsLoGear, PID_SLOT);
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}
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}
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public ElevatorSpeedShiftState getShiftState() {
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return shiftState;
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}
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@@ -405,31 +407,31 @@ public class Arm extends Subsystem implements ControlLoopable
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public double getPositionInches() {
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return motor1.getPositionWorld();
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}
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// public double getAverageMotorCurrent() {
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// 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;
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// }
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public double getAverageMotorCurrent() {
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return (motor1.getOutputCurrent() + motor2.getOutputCurrent()) / 2;
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}
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public synchronized boolean isFinished() {
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return isFinished;
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}
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public synchronized void setFinished(boolean isFinished) {
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this.isFinished = isFinished;
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}
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public double getPeriodMs() {
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return periodMs;
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}
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public void updateStatus(Robot.OperationMode operationMode) {
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//System.err.println("the encoder is right after this");
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try {
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SmartDashboard.putNumber("Arm Position Ticks", motor1.getPositionWorld());
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//SmartDashboard.putNumber("Arm Motor 1 Amps", motor1.getOutputCurrent());
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//SmartDashboard.putNumber("Arm Motor 2 Amps", motor2.getOutputCurrent());
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@@ -447,9 +449,9 @@ public class Arm extends Subsystem implements ControlLoopable
|
||||
catch (Exception e) {
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||||
System.err.println("Arm update status error" +e.getMessage());
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
public static Arm getInstance() {
|
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if(instance == null) {
|
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instance = new Arm();
|
||||
|
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@@ -32,9 +32,9 @@ public class Wrist extends Subsystem implements ControlLoopable
|
||||
|
||||
public static enum WristControlMode { MOTION_PROFILE, JOYSTICK_PID, JOYSTICK_MANUAL, MANUAL };
|
||||
|
||||
// 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
|
||||
public static final double ENCODER_TICKS_TO_INCHES = (1);
|
||||
|
||||
// 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
|
||||
public static final double ENCODER_TICKS_TO_INCHES = (1);
|
||||
|
||||
|
||||
private double periodMs;
|
||||
private double lastControlLoopUpdatePeriod = 0.0;
|
||||
@@ -46,7 +46,7 @@ public class Wrist extends Subsystem implements ControlLoopable
|
||||
public static final double AUTO_ZERO_SPEED = -0.3;
|
||||
public static final double JOYSTICK_INCHES_PER_MS_HI = 20;
|
||||
public static final double JOYSTICK_INCHES_PER_MS_LO = 27;
|
||||
|
||||
|
||||
// Defined positions
|
||||
public static final double ZERO_POSITION_AUTON_FORWARD_INCHES = 8.0;
|
||||
public static final double ZERO_POSITION_INCHES = -0.25;
|
||||
@@ -66,23 +66,23 @@ public class Wrist extends Subsystem implements ControlLoopable
|
||||
public static final double CLIMB_ASSIST_POSITION_INCHES = 50.0;
|
||||
|
||||
// Motion profile max velocities and accel times
|
||||
public static final double MP_MAX_VELOCITY_INCHES_PER_SEC = 60;
|
||||
public static final double MP_MAX_VELOCITY_INCHES_PER_SEC = 60;
|
||||
public static final double MP_T1 = 400; // Fast = 300
|
||||
public static final double MP_T2 = 150; // Fast = 150
|
||||
|
||||
|
||||
// Motor controllers
|
||||
private ArrayList<TalonSRXEncoder> motorControllers = new ArrayList<TalonSRXEncoder>();
|
||||
private ArrayList<TalonSRXEncoder> motorControllers = new ArrayList<TalonSRXEncoder>();
|
||||
|
||||
public TalonSRXEncoder wristMotor1;
|
||||
|
||||
|
||||
// PID controller and params
|
||||
private MPTalonPIDController mpController;
|
||||
|
||||
public static int PID_SLOT = 0;
|
||||
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 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);
|
||||
public static final double KF_UP = 0.01;
|
||||
public static final double KF_DOWN = 0.0;
|
||||
public static final double P_Value = 1;
|
||||
@@ -96,7 +96,7 @@ public class Wrist extends Subsystem implements ControlLoopable
|
||||
private Solenoid speedShift;
|
||||
|
||||
// Misc
|
||||
public static final double AUTO_ZERO_MOTOR_CURRENT = 4.0;
|
||||
public static final double AUTO_ZERO_MOTOR_CURRENT = 4.0;
|
||||
private boolean isFinished;
|
||||
private WristControlMode wristControlMode = WristControlMode.JOYSTICK_PID;
|
||||
public double targetPositionInchesPID = 0;
|
||||
@@ -104,25 +104,25 @@ public class Wrist extends Subsystem implements ControlLoopable
|
||||
private double joystickInchesPerMs = JOYSTICK_INCHES_PER_MS_LO;
|
||||
private double p = 0;
|
||||
|
||||
|
||||
|
||||
public Wrist() {
|
||||
try {
|
||||
wristMotor1 = 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);
|
||||
wristMotor1.setInverted(false);
|
||||
|
||||
|
||||
|
||||
// if (wristMotor1.isSensorPresent(CANTalon.FeedbackDevice.QuadEncoder) != CANTalon.FeedbackDeviceStatus.FeedbackStatusPresent) {
|
||||
// Driver.reportError("Could not detect elevator motor 1 encoder encoder!", false);
|
||||
// }
|
||||
|
||||
|
||||
wristMotor1.configForwardLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
|
||||
wristMotor1.configReverseLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
|
||||
wristMotor1.setNeutralMode(NeutralMode.Brake);
|
||||
wristMotor1.enableCurrentLimit(true);
|
||||
//wristMotor1.setSensorPhase(true);
|
||||
motorControllers.add(wristMotor1);
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
catch (Exception e) {
|
||||
System.err.println("An error occurred in the Wrist constructor");
|
||||
@@ -132,20 +132,20 @@ public class Wrist extends Subsystem implements ControlLoopable
|
||||
@Override
|
||||
public void initDefaultCommand() {
|
||||
}
|
||||
|
||||
|
||||
public void resetZeroPosition(double position) {
|
||||
mpController.resetZeroPosition(position);
|
||||
}
|
||||
}
|
||||
public void resetencoder(){
|
||||
wristMotor1.setPosition(0);
|
||||
targetPositionInchesPID = 0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
private synchronized void setWristControlMode(WristControlMode controlMode) {
|
||||
this.wristControlMode = controlMode;
|
||||
}
|
||||
|
||||
|
||||
private synchronized WristControlMode getWristControlMode() {
|
||||
return this.wristControlMode;
|
||||
}
|
||||
@@ -154,24 +154,24 @@ public class Wrist extends Subsystem implements ControlLoopable
|
||||
wristMotor1.set(ControlMode.PercentOutput, speed);
|
||||
setWristControlMode(WristControlMode.MANUAL);
|
||||
}
|
||||
|
||||
|
||||
public void setSpeedJoystick(double speed) {
|
||||
wristMotor1.set(ControlMode.PercentOutput, speed);
|
||||
setWristControlMode(WristControlMode.JOYSTICK_MANUAL);
|
||||
}
|
||||
|
||||
|
||||
public void setPositionPID(double targetPositionInches) {
|
||||
wristMotor1.set(ControlMode.Position, targetPositionInches);
|
||||
mpController.setPIDSlot(PID_SLOT); //TODO: verify that motor's selectProfileSlot() should be called AFTER its control mode is set
|
||||
updatePositionPID(targetPositionInches);
|
||||
setWristControlMode(WristControlMode.JOYSTICK_PID);
|
||||
setWristControlMode(WristControlMode.JOYSTICK_PID);
|
||||
setFinished(false);
|
||||
}
|
||||
|
||||
|
||||
public void updatePositionPID(double targetPositionInches) {
|
||||
targetPositionInchesPID = limitPosition(targetPositionInches);
|
||||
double startPositionInches = wristMotor1.getPositionWorld();
|
||||
//mpController.setTarget(targetPositionInchesPID, targetPositionInchesPID > startPositionInches ? KF_UP : KF_DOWN);
|
||||
//mpController.setTarget(targetPositionInchesPID, targetPositionInchesPID > startPositionInches ? KF_UP : KF_DOWN);
|
||||
wristMotor1.set(ControlMode.Position, targetPositionInches);
|
||||
wristMotor1.configClosedloopRamp(.02);
|
||||
//wristMotor1.configPeakCurrentLimit(5);
|
||||
@@ -183,24 +183,24 @@ public class Wrist extends Subsystem implements ControlLoopable
|
||||
//System.err.println(wristMotor1.getControlMode());
|
||||
//System.err.print(wristMotor1.getClosedLoopError());
|
||||
}
|
||||
|
||||
|
||||
public void setPositionMP(double targetPositionInches) {
|
||||
double startPositionInches = wristMotor1.getPositionWorld();
|
||||
mpController.setMPTarget(startPositionInches, limitPosition(targetPositionInches), MP_MAX_VELOCITY_INCHES_PER_SEC, MP_T1, MP_T2);
|
||||
mpController.setMPTarget(startPositionInches, limitPosition(targetPositionInches), MP_MAX_VELOCITY_INCHES_PER_SEC, MP_T1, MP_T2);
|
||||
setFinished(false);
|
||||
firstMpPoint = true;
|
||||
setWristControlMode(WristControlMode.MOTION_PROFILE);
|
||||
}
|
||||
|
||||
|
||||
private double limitPosition(double targetPosition) {
|
||||
|
||||
|
||||
/*if (targetPosition < MIN_POSITION_INCHES) {
|
||||
return MIN_POSITION_INCHES;
|
||||
}
|
||||
else if (targetPosition > MAX_POSITION_INCHES) {
|
||||
return MAX_POSITION_INCHES;
|
||||
}*/
|
||||
|
||||
|
||||
return targetPosition;
|
||||
}
|
||||
@Override
|
||||
@@ -224,26 +224,26 @@ public class Wrist extends Subsystem implements ControlLoopable
|
||||
@Override
|
||||
public void onStop(double timestamp) {
|
||||
// TODO Auto-generated method stub
|
||||
|
||||
|
||||
}
|
||||
|
||||
@Override
|
||||
public void onLoop(double timestamp) {
|
||||
synchronized (Wrist.this) {
|
||||
switch( getElevatorControlMode() ) {
|
||||
case JOYSTICK_PID:
|
||||
case JOYSTICK_PID:
|
||||
controlPidWithJoystick();
|
||||
break;
|
||||
case JOYSTICK_MANUAL:
|
||||
controlManualWithJoystick();
|
||||
break;
|
||||
case MOTION_PROFILE:
|
||||
case MOTION_PROFILE:
|
||||
if (!isFinished()) {
|
||||
if (firstMpPoint) {
|
||||
mpController.setPIDSlot(MP_SLOT);
|
||||
firstMpPoint = false;
|
||||
}
|
||||
setFinished(mpController.controlLoopUpdate());
|
||||
setFinished(mpController.controlLoopUpdate());
|
||||
if (isFinished()) {
|
||||
mpController.setPIDSlot(PID_SLOT);
|
||||
}
|
||||
@@ -268,30 +268,30 @@ public class Wrist extends Subsystem implements ControlLoopable
|
||||
lastControlLoopUpdatePeriod = currentTimestamp - lastControlLoopUpdateTimestamp;
|
||||
}
|
||||
lastControlLoopUpdateTimestamp = currentTimestamp;
|
||||
|
||||
|
||||
// Do the update
|
||||
if (wristControlMode == WristControlMode.JOYSTICK_MANUAL) {
|
||||
controlManualWithJoystick();
|
||||
|
||||
|
||||
}
|
||||
else if (!isFinished) {
|
||||
if (wristControlMode == WristControlMode.MOTION_PROFILE) {
|
||||
isFinished = mpController.controlLoopUpdate(getPositionInches());
|
||||
|
||||
isFinished = mpController.controlLoopUpdate(getPositionInches());
|
||||
|
||||
}
|
||||
if (wristControlMode == WristControlMode.JOYSTICK_PID){
|
||||
System.err.println(wristMotor1.getControlMode());
|
||||
controlPidWithJoystick();
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
/*else if (wristControlMode == WristControlMode.MP_PATH_VELOCITY) {
|
||||
isFinished = mpPathVelocityController.controlLoopUpdate(getGyroAngleDeg());
|
||||
isFinished = mpPathVelocityController.controlLoopUpdate(getGyroAngleDeg());
|
||||
}
|
||||
else if (wristControlMode == WristControlMode.ADAPTIVE_PURSUIT) {
|
||||
updatePose();
|
||||
isFinished = adaptivePursuitController.controlLoopUpdate(currentPose);
|
||||
isFinished = adaptivePursuitController.controlLoopUpdate(currentPose);
|
||||
}*/
|
||||
}
|
||||
}
|
||||
@@ -301,14 +301,14 @@ public class Wrist extends Subsystem implements ControlLoopable
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
private void controlPidWithJoystick() {
|
||||
double joystickPosition = -Robot.oi.getOperatorController().getRightYAxis();
|
||||
double deltaPosition = joystickPosition * joystickInchesPerMs;
|
||||
targetPositionInchesPID = targetPositionInchesPID + deltaPosition;
|
||||
updatePositionPID(targetPositionInchesPID);
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
private void ControlWithJoystickhold(){
|
||||
@@ -316,7 +316,7 @@ public class Wrist extends Subsystem implements ControlLoopable
|
||||
updatePositionPID(holdPosition);
|
||||
|
||||
}
|
||||
|
||||
|
||||
private void controlManualWithJoystick() {
|
||||
double joyStickSpeed = -Robot.oi.getOperatorController().getRightYAxis();
|
||||
setSpeedJoystick(joyStickSpeed*.5);
|
||||
@@ -334,7 +334,7 @@ public class Wrist extends Subsystem implements ControlLoopable
|
||||
mpController.setPID(pidPIDParamsLoGear, PID_SLOT);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
public ElevatorSpeedShiftState getShiftState() {
|
||||
return shiftState;
|
||||
}
|
||||
@@ -342,34 +342,34 @@ public class Wrist extends Subsystem implements ControlLoopable
|
||||
public double getPositionInches() {
|
||||
return wristMotor1.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 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("Wrist Position Ticks", wristMotor1.getPositionWorld());
|
||||
SmartDashboard.putNumber("Wrist Motor 1 Amps", wristMotor1.getOutputCurrent());
|
||||
SmartDashboard.putNumber("wrist pid error", wristMotor1.getClosedLoopError());
|
||||
SmartDashboard.putNumber("wrist motor output", wristMotor1.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));
|
||||
@@ -378,9 +378,9 @@ public class Wrist extends Subsystem implements ControlLoopable
|
||||
catch (Exception e) {
|
||||
System.err.println("Drivetrain update status error" +e.getMessage());
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
public static Wrist getInstance() {
|
||||
if(instance == null) {
|
||||
instance = new Wrist();
|
||||
|
||||
Reference in New Issue
Block a user