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triangle path and some pid work

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aarav18
2022-02-05 15:19:00 -07:00
parent d49ee663fb
commit e9859e90c6
9 changed files with 17 additions and 13 deletions
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src/main/deploy/pathplanner/First Test Path.path → src/main/deploy/pathplanner/Diamond.path
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src/main/deploy/pathplanner/Move Forward.path
+1 -1
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@@ -1 +1 @@
{"waypoints":[{"anchorPoint":{"x":2.0390109745736735,"y":2.0},"prevControl":null,"nextControl":{"x":2.049521340421991,"y":1.9894896341516821},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":7.0,"y":2.0},"prevControl":{"x":7.00293414379928,"y":1.995454266770603},"nextControl":null,"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":1.0,"maxAcceleration":1.0,"isReversed":null} {"waypoints":[{"anchorPoint":{"x":2.0390109745736735,"y":2.0},"prevControl":null,"nextControl":{"x":2.049521340421991,"y":1.9894896341516821},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":7.0,"y":2.0},"prevControl":{"x":6.996174239263382,"y":2.003825760736618},"nextControl":null,"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":5.0,"maxAcceleration":5.0,"isReversed":null}
src/main/deploy/pathplanner/Triangle.path
+1
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@@ -0,0 +1 @@
{"waypoints":[{"anchorPoint":{"x":2.0,"y":3.0},"prevControl":null,"nextControl":{"x":3.0000000000000013,"y":3.0},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":3.0,"y":5.0},"prevControl":{"x":3.0,"y":4.0},"nextControl":{"x":3.0,"y":4.0},"holonomicAngle":-90.0,"isReversal":true,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":4.0,"y":3.0},"prevControl":{"x":3.0,"y":3.0},"nextControl":{"x":3.0,"y":3.0},"holonomicAngle":180.0,"isReversal":true,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":2.0,"y":3.0},"prevControl":{"x":3.0271430576167138,"y":3.0},"nextControl":null,"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false}]}
src/main/deploy/pathplanner/generatedJSON/Move Forward.wpilib.json
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src/main/deploy/pathplanner/generatedJSON/New Path.wpilib.json
+1 -1
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src/main/deploy/pathplanner/generatedJSON/Triangle.wpilib.json
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src/main/java/frc4388/robot/Constants.java
+2 -2
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@@ -65,8 +65,8 @@ public final class Constants {
public static final Gains SWERVE_GAINS = new Gains(1.0, 0.0, 1.0, 0.0, 0, 1.0); public static final Gains SWERVE_GAINS = new Gains(1.0, 0.0, 1.0, 0.0, 0, 1.0);
// swerve auto constants // swerve auto constants
public static final PIDController X_CONTROLLER = new PIDController(0.0, 0.0, 0.0); public static final PIDController X_CONTROLLER = new PIDController(4.0, 0.0, 0.0);
public static final PIDController Y_CONTROLLER = new PIDController(0.0, 0.0, 0.0); public static final PIDController Y_CONTROLLER = new PIDController(4.0, 0.0, 0.0);
public static final ProfiledPIDController THETA_CONTROLLER = new ProfiledPIDController( public static final ProfiledPIDController THETA_CONTROLLER = new ProfiledPIDController(
1.0, 0.0, 0.0, new TrapezoidProfile.Constraints(2 * Math.PI, Math.PI)); 1.0, 0.0, 0.0, new TrapezoidProfile.Constraints(2 * Math.PI, Math.PI));
src/main/java/frc4388/robot/RobotContainer.java
+3
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@@ -11,6 +11,8 @@ import java.util.Arrays;
import java.util.HashMap; import java.util.HashMap;
import java.util.List; import java.util.List;
import javax.swing.plaf.nimbus.State;
import com.pathplanner.lib.PathPlanner; import com.pathplanner.lib.PathPlanner;
import com.pathplanner.lib.PathPlannerTrajectory; import com.pathplanner.lib.PathPlannerTrajectory;
import com.pathplanner.lib.commands.PPSwerveControllerCommand; import com.pathplanner.lib.commands.PPSwerveControllerCommand;
@@ -123,6 +125,7 @@ public class RobotContainer {
PIDController yController = SwerveDriveConstants.Y_CONTROLLER; PIDController yController = SwerveDriveConstants.Y_CONTROLLER;
ProfiledPIDController thetaController = SwerveDriveConstants.THETA_CONTROLLER; ProfiledPIDController thetaController = SwerveDriveConstants.THETA_CONTROLLER;
thetaController.enableContinuousInput(-Math.PI, Math.PI); thetaController.enableContinuousInput(-Math.PI, Math.PI);
//thetaController.reset(new TrapezoidProfile.State(m_robotSwerveDrive.getOdometry()));
PPSwerveControllerCommand ppSCC = new PPSwerveControllerCommand( PPSwerveControllerCommand ppSCC = new PPSwerveControllerCommand(
traj, traj,
src/main/java/frc4388/robot/subsystems/SwerveModule.java
+7 -8
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@@ -48,12 +48,11 @@ public class SwerveModule extends SubsystemBase {
angleTalonFXConfiguration.primaryPID.selectedFeedbackSensor = FeedbackDevice.RemoteSensor0; angleTalonFXConfiguration.primaryPID.selectedFeedbackSensor = FeedbackDevice.RemoteSensor0;
angleMotor.configAllSettings(angleTalonFXConfiguration); angleMotor.configAllSettings(angleTalonFXConfiguration);
/*TalonFXConfiguration driveTalonFXConfiguration = new TalonFXConfiguration(); TalonFXConfiguration driveTalonFXConfiguration = new TalonFXConfiguration();
driveTalonFXConfiguration.slot0.kP = kDriveP; driveTalonFXConfiguration.slot0.kP = 1.0;
driveTalonFXConfiguration.slot0.kI = kDriveI; driveTalonFXConfiguration.slot0.kI = 0.0;
driveTalonFXConfiguration.slot0.kD = kDriveD; driveTalonFXConfiguration.slot0.kD = 0.0;
driveTalonFXConfiguration.slot0.kF = kDriveF; driveMotor.configAllSettings(driveTalonFXConfiguration);
driveMotor.configAllSettings(driveTalonFXConfiguration);*/
CANCoderConfiguration canCoderConfiguration = new CANCoderConfiguration(); CANCoderConfiguration canCoderConfiguration = new CANCoderConfiguration();
canCoderConfiguration.magnetOffsetDegrees = offset; canCoderConfiguration.magnetOffsetDegrees = offset;
@@ -90,8 +89,8 @@ public class SwerveModule extends SubsystemBase {
} }
double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond); // double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond);
driveMotor.set(/*angleMotor.get() + */feetPerSecond / SwerveDriveConstants.SPEED_FEET_PER_SECOND_AT_FULL_POWER); driveMotor.set(TalonFXControlMode.Velocity, /*angleMotor.get() + */(Units.metersToInches(state.speedMetersPerSecond) * SwerveDriveConstants.TICKS_PER_INCH) / 10);
} }
/** /**