Team4388/2023WayOfTheRobot
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arm pids

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This commit is contained in:
Abhishrek05
2023-03-14 15:13:41 -06:00
parent 03c938348f
commit d6569c78d3
4 changed files with 10 additions and 6 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+2 -2
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@@ -146,10 +146,10 @@ public class RobotContainer {
new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON) new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
.whileTrue(new RunCommand(() -> new PivotCommand(m_robotArm, 135))); .onTrue(new PivotCommand(m_robotArm, 135));
new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON) new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
.whileTrue(new RunCommand(() -> m_robotArm.m_pivot.set(TalonFXControlMode.Position, 135), m_robotArm)); .onTrue(new PivotCommand(m_robotArm, 210));
new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON) new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> m_robotClaw.toggle())); .onTrue(new InstantCommand(() -> m_robotClaw.toggle()));
src/main/java/frc4388/robot/commands/PelvicInflammatoryDisease.java
+2
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@@ -4,6 +4,7 @@
package frc4388.robot.commands; package frc4388.robot.commands;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandBase; import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.utility.Gains; import frc4388.utility.Gains;
@@ -54,6 +55,7 @@ public abstract class PelvicInflammatoryDisease extends CommandBase {
// Returns true when the command should end. // Returns true when the command should end.
@Override @Override
public boolean isFinished() { public boolean isFinished() {
SmartDashboard.putBoolean("isFinished", Math.abs(getError()) < tolerance);
return Math.abs(getError()) < tolerance; return Math.abs(getError()) < tolerance;
} }
} }
src/main/java/frc4388/robot/commands/PivotCommand.java
+4 -2
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@@ -4,6 +4,7 @@
package frc4388.robot.commands; package frc4388.robot.commands;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import frc4388.robot.subsystems.Arm; import frc4388.robot.subsystems.Arm;
public class PivotCommand extends PelvicInflammatoryDisease { public class PivotCommand extends PelvicInflammatoryDisease {
@@ -12,7 +13,7 @@ public class PivotCommand extends PelvicInflammatoryDisease {
/** Creates a new ArmCommand. */ /** Creates a new ArmCommand. */
public PivotCommand(Arm arm, double target) { public PivotCommand(Arm arm, double target) {
super(0.6, 0, 0, 0, 0); super(6, 1.5, 0, 0, 0.015);
this.arm = arm; this.arm = arm;
this.target = target; this.target = target;
addRequirements(arm); addRequirements(arm);
@@ -20,11 +21,12 @@ public class PivotCommand extends PelvicInflammatoryDisease {
@Override @Override
public double getError() { public double getError() {
return (arm.getArmRotation() - target) / 360; return (target - arm.getArmRotation()) / 360;
} }
@Override @Override
public void runWithOutput(double output) { public void runWithOutput(double output) {
SmartDashboard.putNumber("pivot output", output);
arm.setRotVel(output); arm.setRotVel(output);
} }
} }
src/main/java/frc4388/robot/subsystems/Arm.java
+2 -2
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@@ -91,9 +91,9 @@ public class Arm extends SubsystemBase {
if ((degrees < 2 && vel < 0) || (degrees > 110 && vel > 0)) { if ((degrees < 2 && vel < 0) || (degrees > 110 && vel > 0)) {
m_pivot.set(ControlMode.PercentOutput, 0); m_pivot.set(ControlMode.PercentOutput, 0);
} else if (degrees > 90 && vel > 0) { } else if (degrees > 90 && vel > 0) {
m_pivot.set(ControlMode.PercentOutput, .2 * vel); m_pivot.set(ControlMode.PercentOutput, .15 * vel);
} else { } else {
m_pivot.set(ControlMode.PercentOutput, .4 * vel); m_pivot.set(ControlMode.PercentOutput, .3 * vel);
} }
} }