Team4388/2026KPopRobotHunters
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Improve PIDs and such

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This commit is contained in:
Michael Mikovsky
2026-02-21 12:54:16 -08:00
parent 9c7159ba3b
commit eec454e99a
11 changed files with 95 additions and 60 deletions
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src/main/java/frc4388/robot/subsystems/LED.java
+1 -1
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@@ -45,7 +45,7 @@ public class LED extends SubsystemBase implements Queryable {
// Don't stall the main thread every time the setMode function is called
if(this.mode != pattern) {
this.mode = pattern;
setTo5V();
update();
}
}
src/main/java/frc4388/robot/subsystems/intake/Intake.java
+22 -22
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@@ -31,7 +31,7 @@ public class Intake extends SubsystemBase {
Idle
}
private IntakeMode mode = IntakeMode.Retracted;
private IntakeMode mode = IntakeMode.Idle;
public void setMode(IntakeMode mode) {
this.mode = mode;
@@ -67,27 +67,27 @@ public class Intake extends SubsystemBase {
io.updateInputs(state);
// switch (mode) {
// case Extended:
// io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_EXTENDED.get()));
// io.setRollerOutput(state, IntakeConstants.ROLLER_PERCENT_OUTPUT.get());
// break;
// case Retracted:
// io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_RETRACTED.get()));
// io.setRollerOutput(state, 0);
// break;
// case Extending:
// io.armOutput(IntakeConstants.ARM_EXTEND_PERCENT_OUTPUT.get());
// io.setRollerOutput(state, IntakeConstants.ROLLER_PERCENT_OUTPUT.get());
// break;
// case Retracting:
// io.armOutput(IntakeConstants.ARM_RETRACT_PERCENT_OUTPUT.get());
// io.setRollerOutput(state, 0);
// break;
// case Idle:
// io.stopArm();
// break;
// }
switch (mode) {
case Extended:
io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_EXTENDED.get()));
io.setRollerOutput(state, IntakeConstants.ROLLER_PERCENT_OUTPUT.get());
break;
case Retracted:
io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_RETRACTED.get()));
io.setRollerOutput(state, 0);
break;
case Extending:
io.armOutput(IntakeConstants.ARM_EXTEND_PERCENT_OUTPUT.get());
io.setRollerOutput(state, IntakeConstants.ROLLER_PERCENT_OUTPUT.get());
break;
case Retracting:
io.armOutput(IntakeConstants.ARM_RETRACT_PERCENT_OUTPUT.get());
io.setRollerOutput(state, 0);
break;
case Idle:
io.stopArm();
break;
}
// if (state.retractedLimit){
// this.mode = IntakeMode.Retracted;
// }
src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+3 -3
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@@ -33,7 +33,7 @@ public class IntakeConstants {
// public static final Angle ARM_LIMIT_LOWER = Degrees.of(90);
// public static final Angle ARM_LIMIT_UPPER = Degrees.of(-90);
public static final ConfigurableDouble ARM_LIMIT_RETRACTED = new ConfigurableDouble("Arm angle retracted", 0);
public static final ConfigurableDouble ARM_LIMIT_RETRACTED = new ConfigurableDouble("Arm angle retracted", 0.1);
public static final ConfigurableDouble ARM_LIMIT_EXTENDED = new ConfigurableDouble("Arm angle extended", 0.3);
public static final ConfigurableDouble ARM_EXTEND_PERCENT_OUTPUT = new ConfigurableDouble("Arm extend % output", 0.2);
public static final ConfigurableDouble ARM_RETRACT_PERCENT_OUTPUT = new ConfigurableDouble("Arm retract % output", -0.4);
@@ -45,13 +45,13 @@ public class IntakeConstants {
public static final Slot0Configs ARM_PID = new Slot0Configs()
.withKP(0.2)
.withKP(0.1)
.withKI(0.0)
.withKD(0.0);
public static ConfigurableDouble arm_kP = new ConfigurableDouble("ARM KP", 0.1);
public static ConfigurableDouble arm_kP = new ConfigurableDouble("ARM KP", 0.05);
public static ConfigurableDouble arm_kI = new ConfigurableDouble("ARM KI", 0);
public static ConfigurableDouble arm_kD = new ConfigurableDouble("ARM KD", 0);
src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java
+1
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@@ -83,6 +83,7 @@ public class IntakeReal implements IntakeIO {
.withPosition(motorAngle)
.withLimitReverseMotion(!m_armLimitSwitch.get())
);
}
@Override
src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
+24 -7
View File
@@ -61,6 +61,7 @@ public class Shooter extends SubsystemBase {
}
private ShooterMode mode = ShooterMode.NotReady;
private boolean shooterButtonReady = false;
public void setShooterReady() {
if(this.mode == ShooterMode.NotReady) {
@@ -72,6 +73,15 @@ public class Shooter extends SubsystemBase {
this.mode = ShooterMode.NotReady;
}
public void setShooterShoot() {
shooterButtonReady = true;
}
public void setShooterNOTShoot() {
shooterButtonReady = false;
}
@AutoLogOutput
public ShooterMode getMode() {
return mode;
@@ -100,11 +110,11 @@ public class Shooter extends SubsystemBase {
if(this.mode != ShooterMode.NotReady) {
// TODO: get if the robot is within the angle of the hub
boolean driverError = false;
boolean driverError =
// XYSpeed <= ShooterConstants.ROBOT_SPEED_TOLERANCE.get() |
// AngSpeed <= ShooterConstants.ROBOT_ANG_SPEED_TOLERANCE.get() |
// distanceToHub <= ShooterConstants.ROBOT_MIN_HUB.get() |
// distanceToHub >= ShooterConstants.ROBOT_MAX_HUB.get();
distanceToHub <= ShooterConstants.ROBOT_MIN_HUB.get() |
distanceToHub >= ShooterConstants.ROBOT_MAX_HUB.get();
double shooterSpeed = Math.abs(state.motor1Velocity.in(RotationsPerSecond) + state.motor2Velocity.in(RotationsPerSecond)) / 2;
double shooterSpeedTarget = Math.abs(state.motor1TargetVelocity.in(RotationsPerSecond) + state.motor2TargetVelocity.in(RotationsPerSecond)) / 2;
@@ -148,16 +158,23 @@ public class Shooter extends SubsystemBase {
ShooterMode.Ready
);
}
}
switch (mode) {
case Shooting:
io.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_ACTIVE_VELOCITY.get()));
io.setIndexerOutput(state, ShooterConstants.INDEXER_FORWARD_OUTPUT.get());
if(shooterButtonReady) {
io.setShooterVelocity(state, ShooterConstants.getTargetShooterSpeed(distanceToHub));
io.setIndexerOutput(state, ShooterConstants.INDEXER_FORWARD_OUTPUT.get());
} else {
io.setShooterVelocity(state, ShooterConstants.getTargetShooterSpeed(distanceToHub));
io.setIndexerOutput(state, ShooterConstants.INDEXER_REVERSE_OUTPUT.get());
}
break;
case Ready:
io.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_ACTIVE_VELOCITY.get()));
io.setShooterVelocity(state, ShooterConstants.getTargetShooterSpeed(distanceToHub));
io.setIndexerOutput(state, ShooterConstants.INDEXER_REVERSE_OUTPUT.get());
break;
case NotReady:
src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
+14 -9
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@@ -18,7 +18,7 @@ public class ShooterConstants {
public static final double SHOOTERMOTOR_GEAR_RATIO = 1.5;
public static final double INDEXER_GEAR_RATIO = 1.;
public static final ConfigurableDouble SHOOTER_ACTIVE_VELOCITY = new ConfigurableDouble("Shooter Active Velocity", -40);
// public static final ConfigurableDouble SHOOTER_ACTIVE_VELOCITY = new ConfigurableDouble("Shooter Active Velocity", -40);
public static final ConfigurableDouble SHOOTER_MAX_VELOCITY = new ConfigurableDouble("Shooter MAX Velocity", 60);
public static final ConfigurableDouble SHOOTER_RESTING_VELOCITY = new ConfigurableDouble("Shooter Resting Velocity", 0.0);
@@ -28,23 +28,26 @@ public class ShooterConstants {
public static final ConfigurableDouble AIM_LEAD_TIME = new ConfigurableDouble("Aim lead time", 0);
// Shoot mode tolerances
public static final ConfigurableDouble ROBOT_MIN_HUB = new ConfigurableDouble("Shoot min dist M", 0);
public static final ConfigurableDouble ROBOT_MAX_HUB = new ConfigurableDouble("Shoot max dist M", 99);
public static final ConfigurableDouble ROBOT_MIN_HUB = new ConfigurableDouble("Shoot min dist M", 1.8);
public static final ConfigurableDouble ROBOT_MAX_HUB = new ConfigurableDouble("Shoot max dist M", 4.8);
public static final ConfigurableDouble ROBOT_ANG_TOLERANCE = new ConfigurableDouble("Ang tolerance DEG", 360);
public static final ConfigurableDouble ROBOT_SPEED_TOLERANCE = new ConfigurableDouble("Speed tolerance MS", 1);
public static final ConfigurableDouble ROBOT_ANG_SPEED_TOLERANCE = new ConfigurableDouble("Shoot Ang speed tolerance DEG", 3);
public static final ConfigurableDouble SHOOTER_SPEED_TOLERANCE = new ConfigurableDouble("Shooter speed tolerance RPS", 5);
public static final ConfigurableDouble SHOOTER_SPEED_TOLERANCE = new ConfigurableDouble("Shooter speed tolerance RPS", 3);
//
public static AngularVelocity getTargetShooterSpeed(double hubDistMeters) {
// Model derived from points
// double speed =
// 1.11576*hubDistMeters*hubDistMeters +
// 0.318464*hubDistMeters +
// 30.6293;
double speed =
1.11576*hubDistMeters*hubDistMeters +
0.318464*hubDistMeters +
30.6293;
5.6939*hubDistMeters +
22.76545;
double max = SHOOTER_MAX_VELOCITY.get();
@@ -54,6 +57,8 @@ public class ShooterConstants {
} else if(speed < -max) {
speed = -max;
}
// double speed = SHOOTER_MAX_VELOCITY.get();
return RotationsPerSecond.of(-speed);
}
@@ -62,7 +67,7 @@ public class ShooterConstants {
public static Slot0Configs SHOOTER_PID = new Slot0Configs()
.withKV(0.0)
.withKP(0.08)
.withKI(0.1)
.withKI(0.15)
.withKD(0.0);
@@ -71,7 +76,7 @@ public class ShooterConstants {
public static ConfigurableDouble shooter_kP = new ConfigurableDouble("Shooter KP", 0.08);
public static ConfigurableDouble shooter_kI = new ConfigurableDouble("Shooter KI", 0.1);
public static ConfigurableDouble shooter_kI = new ConfigurableDouble("Shooter KI", 0.15);
public static ConfigurableDouble shooter_kD = new ConfigurableDouble("Shooter KD", 0);
src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
+2 -2
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@@ -50,7 +50,7 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
public double lastOdomSpeed;
public Pose2d initalPose2d = new Pose2d();
public Pose2d initalPose2d = new Pose2d(); // Mira aqui
public double rotTarget = 0.0;
@@ -330,7 +330,7 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
Rotation2d heading = new Rotation2d(rightStick.getX(), rightStick.getY());//.r otateBy(Rotation2d.fromDegrees(90));
heading = heading.rotateBy(Rotation2d.fromDegrees(90));
heading = heading.rotateBy(Rotation2d.fromDegrees(-90));
rotTarget = heading.getDegrees();
driveFieldAngle(leftStick, heading);