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pids tuned somewhat, heading thing FIXED

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aarav18
2022-02-07 19:49:27 -07:00
parent e0d293a0bc
commit 60f5cc6097
12 changed files with 110 additions and 13 deletions
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src/main/deploy/pathplanner/Five Ball.path
+1 -1
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@@ -1 +1 @@
{"waypoints":[{"anchorPoint":{"x":8.334720117716095,"y":1.881355486848905},"prevControl":null,"nextControl":{"x":8.334720117716095,"y":1.2691323148186409},"holonomicAngle":-90.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":8.019409142266559,"y":0.26275914620794727},"prevControl":{"x":8.43030614852931,"y":0.2186359777502019},"nextControl":{"x":6.453364630867194,"y":0.430924999781035},"holonomicAngle":178.16716049405798,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":5.118548168124668,"y":1.9969695111773362},"prevControl":{"x":5.423348777725886,"y":1.3032853651883554},"nextControl":{"x":4.8562731024023424,"y":2.5938713848902157},"holonomicAngle":124.12854707414519,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":1.3768579261296454,"y":1.187671340859924},"prevControl":{"x":0.7357256093822531,"y":0.7147048776856182},"nextControl":{"x":2.0179902428770378,"y":1.6606378040342298},"holonomicAngle":-147.6118851465991,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":4.971403046254368,"y":6.06448109447943},"prevControl":{"x":3.647096949366312,"y":4.256698168568751},"nextControl":null,"holonomicAngle":47.68377515946898,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":1.0,"maxAcceleration":1.0,"isReversed":null}
{"waypoints":[{"anchorPoint":{"x":8.334720117716095,"y":1.881355486848905},"prevControl":null,"nextControl":{"x":8.61849999562068,"y":1.250733535949832},"holonomicAngle":-90.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":8.019409142266559,"y":0.26275914620794727},"prevControl":{"x":8.43030614852931,"y":0.2186359777502019},"nextControl":{"x":6.453364630867194,"y":0.430924999781035},"holonomicAngle":178.16716049405798,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":5.118548168124668,"y":1.9969695111773362},"prevControl":{"x":5.520125502663889,"y":1.354445775900491},"nextControl":{"x":4.750685363439692,"y":2.5855499986862043},"holonomicAngle":124.12854707414519,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":1.3768579261296454,"y":1.187671340859924},"prevControl":{"x":0.7357256093822531,"y":0.7147048776856182},"nextControl":{"x":2.0179902428770378,"y":1.6606378040342298},"holonomicAngle":-147.6118851465991,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":4.971403046254368,"y":6.06448109447943},"prevControl":{"x":3.647096949366312,"y":4.256698168568751},"nextControl":null,"holonomicAngle":47.68377515946898,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":1.0,"maxAcceleration":1.0,"isReversed":null}
src/main/deploy/pathplanner/L Path copy.path
+37
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@@ -0,0 +1,37 @@
{
"waypoints": [
{
"anchorPoint": {
"x": 5.0,
"y": 2.0
},
"prevControl": null,
"nextControl": {
"x": 5.004218182347978,
"y": 2.0
},
"holonomicAngle": 0.0,
"isReversal": false,
"velOverride": null,
"isLocked": false
},
{
"anchorPoint": {
"x": 5.0,
"y": 5.0
},
"prevControl": {
"x": 4.991875448297241,
"y": 5.0
},
"nextControl": null,
"holonomicAngle": 0.0,
"isReversal": false,
"velOverride": null,
"isLocked": false
}
],
"maxVelocity": 1.0,
"maxAcceleration": 1.0,
"isReversed": null
}
src/main/deploy/pathplanner/L Path.path
+55
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@@ -0,0 +1,55 @@
{
"waypoints": [
{
"anchorPoint": {
"x": 2.0,
"y": 2.0
},
"prevControl": null,
"nextControl": {
"x": 3.0,
"y": 2.0
},
"holonomicAngle": 0.0,
"isReversal": false,
"velOverride": null,
"isLocked": false
},
{
"anchorPoint": {
"x": 5.0,
"y": 2.0
},
"prevControl": {
"x": 4.000000000000002,
"y": 2.0
},
"nextControl": {
"x": 5.004218182347978,
"y": 2.0
},
"holonomicAngle": 0.0,
"isReversal": false,
"velOverride": null,
"isLocked": false
},
{
"anchorPoint": {
"x": 5.0,
"y": 5.0
},
"prevControl": {
"x": 4.991875448297241,
"y": 5.0
},
"nextControl": null,
"holonomicAngle": 0.0,
"isReversal": false,
"velOverride": null,
"isLocked": false
}
],
"maxVelocity": 1.0,
"maxAcceleration": 1.0,
"isReversed": null
}
src/main/deploy/pathplanner/Move Down.path
+1 -1
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@@ -1 +1 @@
{"waypoints":[{"anchorPoint":{"x":5.0,"y":5.0},"prevControl":null,"nextControl":{"x":5.034589912702322,"y":5.0},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":5.0,"y":2.0},"prevControl":{"x":4.991164682737528,"y":2.0},"nextControl":null,"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":5.0,"maxAcceleration":5.0,"isReversed":null}
{"waypoints":[{"anchorPoint":{"x":5.0,"y":5.0},"prevControl":null,"nextControl":{"x":5.055485973040912,"y":4.3828225587485665},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":5.0,"y":2.0},"prevControl":{"x":5.0,"y":3.1241654489412927},"nextControl":{"x":5.0,"y":3.1241654489412927},"holonomicAngle":0.0,"isReversal":true,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":5.0,"y":5.0},"prevControl":{"x":5.0,"y":3.0836227700747108},"nextControl":null,"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":1.0,"maxAcceleration":1.0,"isReversed":null}
src/main/deploy/pathplanner/Move Forward.path
+1 -1
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@@ -1 +1 @@
{"waypoints":[{"anchorPoint":{"x":2.0,"y":2.0},"prevControl":null,"nextControl":{"x":2.014863901928194,"y":2.0},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":5.0,"y":2.0},"prevControl":{"x":4.99458955727988,"y":2.0},"nextControl":null,"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":5.0,"maxAcceleration":5.0,"isReversed":null}
{"waypoints":[{"anchorPoint":{"x":2.0,"y":2.0},"prevControl":null,"nextControl":{"x":2.014863901928194,"y":2.0},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":5.0,"y":2.0},"prevControl":{"x":4.99458955727988,"y":2.0},"nextControl":{"x":4.99458955727988,"y":2.0},"holonomicAngle":0.0,"isReversal":true,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":2.0,"y":2.0},"prevControl":{"x":1.4597663280316806,"y":2.0},"nextControl":null,"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":1.0,"maxAcceleration":1.0,"isReversed":null}
src/main/deploy/pathplanner/generatedJSON/Five Ball.wpilib.json
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src/main/deploy/pathplanner/generatedJSON/L Path.wpilib.json
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src/main/deploy/pathplanner/generatedJSON/Move Down.wpilib.json
+1 -1
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src/main/deploy/pathplanner/generatedJSON/Move Forward.wpilib.json
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src/main/deploy/pathplanner/generatedJSON/New Path.wpilib.json
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src/main/java/frc4388/robot/Constants.java
+3 -3
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@@ -65,10 +65,10 @@ public final class Constants {
public static final Gains SWERVE_GAINS = new Gains(1.0, 0.0, 1.0, 0.0, 0, 1.0);
// swerve auto constants
public static final PIDController X_CONTROLLER = new PIDController(4.0, 0.0, 0.0);
public static final PIDController Y_CONTROLLER = new PIDController(0.01, 0.0, 0.0);
public static final PIDController X_CONTROLLER = new PIDController(0.5, 0.0, 0.0);
public static final PIDController Y_CONTROLLER = new PIDController(2.0, 0.0, 0.0);
public static final ProfiledPIDController THETA_CONTROLLER = new ProfiledPIDController(
1.0, 0.0, 0.0, new TrapezoidProfile.Constraints(Math.PI, Math.PI));
15.0, 0.1, 0.3, new TrapezoidProfile.Constraints(Math.PI, Math.PI));
// swerve configuration
public static final double NEUTRAL_DEADBAND = 0.04;
src/main/java/frc4388/robot/RobotContainer.java
+7 -3
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@@ -15,6 +15,7 @@ import javax.swing.plaf.nimbus.State;
import com.pathplanner.lib.PathPlanner;
import com.pathplanner.lib.PathPlannerTrajectory;
import com.pathplanner.lib.PathPlannerTrajectory.PathPlannerState;
import com.pathplanner.lib.commands.PPSwerveControllerCommand;
import edu.wpi.first.math.controller.HolonomicDriveController;
@@ -137,9 +138,12 @@ public class RobotContainer {
m_robotSwerveDrive::setModuleStates,
m_robotSwerveDrive);
PathPlannerState state = (PathPlannerState) traj.sample(0);
return new SequentialCommandGroup(
new InstantCommand(() -> m_robotSwerveDrive.m_gyro.reset()),
new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(traj.getInitialPose())),
new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(new Pose2d(state.poseMeters.getTranslation(), state.holonomicRotation))),
//new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(traj.getInitialPose())),
ppSCC,
new InstantCommand(() -> m_robotSwerveDrive.stopModules())
);
@@ -181,8 +185,8 @@ public class RobotContainer {
// ppSwerveControllerCommand,
// new InstantCommand(() -> m_robotSwerveDrive.stopModules())
// );
// return runAuto("Move Forward", 5.0, 5.0);
return runAuto("Five Ball", 1.0, 1.0);
// return runAuto("Move Forward", 1.0, 1.0);
return runAuto("Move Down", 1.0, 1.0);
}
/**