Tuner stuffs

2026-06-09 00:38:05 -06:00 · 2022-11-01 17:13:39 -06:00
parent f827314e09
commit c39f5fe4b8
35 changed files with 54 additions and 19 deletions
@@ -4,7 +4,13 @@
    <option name="autoReloadType" value="SELECTIVE" />
  </component>
  <component name="ChangeListManager">
-    <list default="true" id="9c18dc17-7391-414f-be16-8f692898fefb" name="Changes" comment="" />
+    <list default="true" id="9c18dc17-7391-414f-be16-8f692898fefb" name="Changes" comment="">
+      <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/simgui-ds.json" beforeDir="false" afterPath="$PROJECT_DIR$/simgui-ds.json" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/simgui.json" beforeDir="false" afterPath="$PROJECT_DIR$/simgui.json" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/main/java/frc4388/robot/subsystems/TestMotor.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/frc4388/robot/subsystems/TestMotor.java" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/main/java/frc4388/utility/tuner/TunerTablesHandler.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/frc4388/utility/tuner/TunerTablesHandler.java" afterDir="false" />
+    </list>
    <option name="SHOW_DIALOG" value="false" />
    <option name="HIGHLIGHT_CONFLICTS" value="true" />
    <option name="HIGHLIGHT_NON_ACTIVE_CHANGELIST" value="false" />
@@ -67,8 +73,6 @@
  </component>
  <component name="HighlightingSettingsPerFile">
    <setting file="jar://$PROJECT_DIR$/../../../../../Program Files/Java/jdk-17.0.2/lib/src.zip!/java.base/java/util/Map.java" root0="SKIP_INSPECTION" />
-    <setting file="jar://$USER_HOME$/.gradle/caches/modules-2/files-2.1/edu.wpi.first.hal/hal-java/2022.2.1/c3366615a84edb487fa8567afc3dd1010075af41/hal-java-2022.2.1-sources.jar!/edu/wpi/first/hal/can/CANJNI.java" root0="SKIP_INSPECTION" />
-    <setting file="jar://$USER_HOME$/.gradle/caches/modules-2/files-2.1/edu.wpi.first.wpilibj/wpilibj-java/2022.2.1/1d10b453b5700a1b25cd9e39e13077dc846e3a53/wpilibj-java-2022.2.1-sources.jar!/edu/wpi/first/wpilibj/RobotBase.java" root0="SKIP_INSPECTION" />
  </component>
  <component name="MarkdownSettingsMigration">
    <option name="stateVersion" value="1" />
@@ -90,7 +94,7 @@
    &quot;project.structure.last.edited&quot;: &quot;Project&quot;,
    &quot;project.structure.proportion&quot;: &quot;0.0&quot;,
    &quot;project.structure.side.proportion&quot;: &quot;0.2&quot;,
-    &quot;settings.editor.selected.configurable&quot;: &quot;reference.settingsdialog.IDE.editor.colors.Java&quot;
+    &quot;settings.editor.selected.configurable&quot;: &quot;preferences.pluginManager&quot;
  }
 }</component>
  <component name="RecentsManager">
@@ -158,15 +162,4 @@
    </task>
    <servers />
  </component>
-  <component name="XDebuggerManager">
-    <breakpoint-manager>
-      <breakpoints>
-        <line-breakpoint enabled="true" type="java-line">
-          <url>file://$PROJECT_DIR$/src/main/java/frc4388/utility/tuner/TunerTablesHandler.java</url>
-          <line>55</line>
-          <option name="timeStamp" value="1" />
-        </line-breakpoint>
-      </breakpoints>
-    </breakpoint-manager>
-  </component>
 </project>
@@ -0,0 +1,12 @@
+arguments=--init-script C\:\\Users\\Owner\\.vscode\\extensions\\redhat.java-1.10.0-win32-x64\\server\\config_win\\org.eclipse.osgi\\53\\0\\.cp\\gradle\\init\\init.gradle
+auto.sync=false
+build.scans.enabled=false
+connection.gradle.distribution=GRADLE_DISTRIBUTION(WRAPPER)
+eclipse.preferences.version=1
+gradle.user.home=
+java.home=C\:/Program Files/Java/jdk-17.0.2
+jvm.arguments=
+offline.mode=false
+override.workspace.settings=true
+show.console.view=true
+show.executions.view=true
@@ -0,0 +1 @@
+
@@ -0,0 +1 @@
+
@@ -0,0 +1 @@
+INDEX VERSION 1.131
@@ -0,0 +1 @@
+java
@@ -0,0 +1,4 @@
+INDEX VERSION 1.131+C:\Users\Owner\Documents\GitHub\2022NoWayHome\.metadata\.plugins\org.eclipse.jdt.core
+2238567309.index
+760091825.index
+1865797976.index
@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<dirs>
+    <entry loc="C:\Program Files\Java\jdk-17.0.2" stamp="1642579750178"/>
+</dirs>
@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<libraryInfos>
+    <libraryInfo home="C:\Program Files\Java\jdk-17.0.2" version="17.0.2"/>
+</libraryInfos>
@@ -27,6 +27,9 @@
    "SmartDashboard": {
      "open": true
    },
+    "TunerTable": {
+      "open": true
+    },
    "TunerTables": {
      "LoggerTable": {
        "open": true
@@ -2,6 +2,10 @@ package frc4388.robot.subsystems;

 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;

+import edu.wpi.first.math.numbers.N1;
+import edu.wpi.first.math.system.plant.DCMotor;
+import edu.wpi.first.wpilibj.simulation.ElevatorSim;
+import edu.wpi.first.wpilibj.simulation.LinearSystemSim;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.utility.Gains;
 import frc4388.utility.tuner.TunerLogger;
@@ -18,7 +22,7 @@ public class TestMotor extends SubsystemBase {
    private final WPI_TalonSRX m_testMotor;

    @GainsField(id="TestMotor")
-    public Gains gains = new Gains(1, 1, 1, 1, 1, 1);
+    public Gains gains = new Gains(5, 4, 3, 2, 1, 1);

    @Loggable(id="test")
    public double logable = 4;
@@ -40,14 +44,19 @@ public class TestMotor extends SubsystemBase {
 //        m_testMotor.set(DesmosServer.readDouble("Speed"));
 //    }

+    @Override
+    public void periodic() {
+	logable = Math.random()*2 -1;
+    }
+
    @Reader(id="TestMotor", value="velocity")
    public double velocityReader() {
-        return m_testMotor.getSelectedSensorVelocity();
+        return logable;
    }

    @Reader(id="TestMotor", value="position")
    public double positionReader() {
-        return m_testMotor.getSelectedSensorPosition();
+        return Math.random() * 2 - 1;
    }

    @Controller(id="TestMotor", value="velocity")
@@ -11,6 +11,8 @@ import java.util.HashMap;
 import java.util.List;
 import java.util.Map;

+import java.lang.Math;
+
 public class TunerTablesHandler {
    private final NetworkTable tunerTable;
    private final NetworkTableEntry activeEntry;