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turret pid tuned and degree conversion

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This commit is contained in:
Ryan Manley
2022-03-13 17:57:36 -06:00
parent 68c69d7262
commit cfdac7f069
3 changed files with 13 additions and 12 deletions
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src/main/java/frc4388/robot/Constants.java
+3 -3
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@@ -184,7 +184,7 @@ public final class Constants {
public static final int SHOOTER_FALCON_LEFT_CAN_ID = 21;
public static final int SHOOTER_FALCON_RIGHT_CAN_ID = 22;
public static final double TURRET_SPEED_MULTIPLIER = 0.4d;
public static final int DEGREES_PER_ROT = 0;
public static final double DEGREES_PER_ROT = 180.0/105.45445251464844;
public static final int TURRET_MOTOR_POS_AT_ZERO_ROT = 0;
public static final int TURRET_MOTOR_ROTS_PER_ROT = 0;
public static final double ENCODER_TICKS_PER_REV = 2048;
@@ -196,10 +196,10 @@ public final class Constants {
// ID
public static final int TURRET_MOTOR_CAN_ID = 19;
//Gains for turret
public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.6, 0.0, 0.0, 0.0, 0, 1.0);
public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.1, 0.0, 0.1, 0.0, 0, 0.6);
public static final double SHOOTER_TURRET_MIN = -0.6;
//Gains for hood
public static final Gains SHOOTER_ANGLE_GAINS = new Gains(0.1, 0.0, 0.0, 0.0, 0, 0.7);
public static final double SHOOTER_TURRET_MIN = -1.0;
public static final double TURRET_FORWARD_LIMIT = 17.0; // TODO: find
public static final double TURRET_REVERSE_LIMIT = -105.0; // TODO: find
//Shooter gains for actual Drum
src/main/java/frc4388/robot/RobotContainer.java
+8 -8
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@@ -176,7 +176,7 @@ public class RobotContainer {
new RunCommand(() -> m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()),
m_robotTurret).withName("Turret runTurretWithInput defaultCommand"));
m_robotHood.setDefaultCommand(
new RunCommand(() -> m_robotHood.runHood(getOperatorController().getLeftY()), m_robotHood));
new RunCommand(() -> m_robotHood.runHood(getOperatorController().getRightY()), m_robotHood));
// m_robotTurret.setDefaultCommand(
// new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry));
@@ -260,9 +260,6 @@ public class RobotContainer {
new JoystickButton(getOperatorController(), XboxController.Button.kX.value) //20ft
.whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(10000)))
// .whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.6)))
// .whenReleased(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.0)));
// .whileHeld(new RunCommand(() -> m_robotHood.runAngleAdjustPID(-96)))
.whenReleased(new RunCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0)));
new JoystickButton(getOperatorController(), XboxController.Button.kLeftBumper.value)
@@ -281,11 +278,14 @@ public class RobotContainer {
// .whileHeld(new RunCommand(() -> m_robotExtender.runExtender(-1.0), m_robotExtender))
// .whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
.whenPressed(new InstantCommand(() -> m_robotBoomBoom.updateOffset(500), m_robotBoomBoom));
// new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
// .whenPressed(new InstantCommand(() -> m_robotBoomBoom.updateOffset(500), m_robotBoomBoom));
new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
.whenPressed(new InstantCommand(() -> m_robotBoomBoom.updateOffset(-500), m_robotBoomBoom));
new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
.whileHeld(new RunCommand(() -> m_robotTurret.runshooterRotatePID(-180.0), m_robotTurret));
// new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
// .whenPressed(new InstantCommand(() -> m_robotBoomBoom.updateOffset(-500), m_robotBoomBoom));
// new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
// .whileHeld(new InstantCommand(() -> m_robotExtender.runExtender(-1.0), m_robotExtender))
src/main/java/frc4388/robot/subsystems/Turret.java
+2 -1
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@@ -71,7 +71,8 @@ public class Turret extends SubsystemBase {
@Override
public void periodic() {
// This method will be called once per scheduler run
SmartDashboard.putNumber("Turret Angle", m_boomBoomRotateEncoder.getPosition());
SmartDashboard.putNumber("Turret Angle Rotations", m_boomBoomRotateEncoder.getPosition());
SmartDashboard.putNumber("Turret Angle Degrees", m_boomBoomRotateEncoder.getPosition() * ShooterConstants.DEGREES_PER_ROT);
}
/**