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/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
View File
@@ -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);