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66945
2022-01-20 19:58:05 -07:00
parent 7949205cc4
commit e01ffd3329
2 changed files with 11 additions and 3 deletions
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src/main/java/frc4388/robot/Constants.java
+2 -2
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@@ -95,8 +95,8 @@ public final class Constants {
public static final int ELBOW_SLOT_IDX = 0;
public static final int ELBOW_PID_LOOP_IDX = 1;
public static final Gains SHOULDER_GAINS = new Gains(1.0, 1.0, 1.0, 1.0, 0, 1.0);
public static final Gains ELBOW_GAINS = new Gains(1.0, 1.0, 1.0, 1.0, 0, 1.0);
public static final Gains SHOULDER_GAINS = new Gains(1.0, 0.0, 0.0, 0.0, 0, 1.0);
public static final Gains ELBOW_GAINS = new Gains(1.0, 0.0, 0.0, 0.0, 0, 1.0);
public static final int CLIMBER_TIMEOUT_MS = 100;
}
src/main/java/frc4388/robot/subsystems/Climber.java
+9 -1
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@@ -2,6 +2,13 @@
// 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.
/*
Safety
Hooks
Add
Overextension when lower arm is resting check in processing
*/
package frc4388.robot.subsystems;
import com.ctre.phoenix.motorcontrol.NeutralMode;
@@ -18,7 +25,7 @@ public class Climber extends SubsystemBase {
private WPI_PigeonIMU m_gyro;
private double[] position = {0.d, 0.d}; // TODO change position
private double[] position = {ClimberConstants.MIN_ARM_LENGTH, 0.d};
public Climber(WPI_TalonFX shoulder, WPI_TalonFX elbow, WPI_PigeonIMU gyro) {
m_shoulder = shoulder;
@@ -62,6 +69,7 @@ public class Climber extends SubsystemBase {
// Law and Order: Cosines edition
double shoulderAngle = Math.acos((Math.pow(ClimberConstants.LOWER_ARM_LENGTH, 2) + Math.pow(mag, 2) - Math.pow(ClimberConstants.UPPER_ARM_LENGTH, 2)) /
(2.d * ClimberConstants.LOWER_ARM_LENGTH * mag));
//shoulderAngle = acos(LowerArmLength^2 + mag^2)
shoulderAngle = theta - shoulderAngle;
double elbowAngle = Math.acos((Math.pow(ClimberConstants.LOWER_ARM_LENGTH, 2) + Math.pow(ClimberConstants.UPPER_ARM_LENGTH, 2) - Math.pow(mag, 2)) /