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swerve pid constants and gains

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aarav18
2021-12-06 16:38:29 -07:00
parent 7672d58439
commit c8927be4f0
3 changed files with 70 additions and 4 deletions
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src/main/java/frc4388/robot/Constants.java
+7
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@@ -7,6 +7,7 @@
package frc4388.robot;
import frc4388.utility.Gains;
import frc4388.utility.LEDPatterns;
/**
@@ -46,6 +47,12 @@ public final class Constants {
public static final int RIGHT_FRONT_STEER_CAN_ENCODER_ID = 0;
public static final int LEFT_BACK_STEER_CAN_ENCODER_ID = 0;
public static final int RIGHT_BACK_STEER_CAN_ENCODER_ID = 0;
// swerve PID constants
public static final int SWERVE_SLOT_IDX = 0;
public static final int SWERVE_PID_LOOP_IDX = 1;
public static final int SWERVE_TIMEOUT_MS = 30;
public static final Gains SWERVE_GAINS = new Gains(0.0, 0.0, 0.0, 0.0, 0, 1.0);
}
public static final class LEDConstants {
public static final int LED_SPARK_ID = 0;
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+3 -4
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@@ -32,7 +32,8 @@ public class SwerveDrive extends SubsystemBase
private CANCoder m_leftFrontEncoder;
private CANCoder m_rightFrontEncoder;
private CANCoder m_leftBackEncoder;
private CANCoder m_rightBackEncoder;
private CANCoder m_rightBackEncoder;
public SwerveDrive(WPI_TalonFX leftFrontSteerMotor,WPI_TalonFX leftFrontWheelMotor,WPI_TalonFX rightFrontSteerMotor,WPI_TalonFX rightFrontWheelMotor,
WPI_TalonFX leftBackSteerMotor,WPI_TalonFX leftBackWheelMotor,WPI_TalonFX rightBackSteerMotor,WPI_TalonFX rightBackWheelMotor, CANCoder leftFrontEncoder,
CANCoder rightFrontEncoder,
@@ -89,9 +90,7 @@ public class SwerveDrive extends SubsystemBase
m_rightFrontWheelMotor.set(m_rightFrontSteerMotor.get() + rightFront.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED);
m_leftBackWheelMotor.set(m_leftBackSteerMotor.get() + leftBack.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED);
m_rightBackWheelMotor.set(m_rightBackSteerMotor.get() + rightBack.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED);
// PID
}
// public void driveFieldRelative(double awayFromStation, double towardLeftBoundary, double rotate)
src/main/java/frc4388/utility/Gains.java
+60
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@@ -0,0 +1,60 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc4388.utility;
/** Add your docs here. */
public class Gains {
public double m_kP;
public double m_kI;
public double m_kD;
public double m_kF;
public int m_kIzone;
public double m_kPeakOutput;
public double m_kmaxOutput;
public double m_kminOutput;
/**
* Creates Gains object for PIDs
* @param kP The P value.
* @param kI The I value.
* @param kD The D value.
* @param kF The F value.
* @param kIzone The zone of the I value.
* @param kPeakOutput The peak output setting the motors to run the gains at, in both forward and reverse directions. By default 1.0.
*/
public Gains(double kP, double kI, double kD, double kF, int kIzone, double kPeakOutput)
{
m_kP = kP;
m_kI = kI;
m_kD = kD;
m_kF = kF;
m_kIzone = kIzone;
m_kPeakOutput = kPeakOutput;
m_kmaxOutput = m_kPeakOutput;
m_kminOutput = -m_kPeakOutput;
}
/**
* Creates Gains object for PIDs
* @param kP The P value.
* @param kI The I value.
* @param kD The D value.
* @param kF The F value.
* @param kIzone The zone of the I value.
* @param kMinOutput The lowest output setting to run the gains at, usually in the reverse direction. By default -1.0.
* @param kMaxOutput The highest output setting to run the gains at, usually in the forward direction. By default 1.0.
*/
public Gains(double kP, double kI, double kD, double kF, int kIzone, double kMinOutput, double kMaxOutput)
{
m_kP = kP;
m_kI = kI;
m_kD = kD;
m_kF = kF;
m_kIzone = kIzone;
m_kminOutput = kMinOutput;
m_kmaxOutput = kMaxOutput;
m_kPeakOutput = (Math.abs(m_kminOutput) > Math.abs(m_kmaxOutput)) ? Math.abs(m_kminOutput) : Math.abs(m_kmaxOutput);
}
}