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Try to make shooter work

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This commit is contained in:
ryan123rudder
2020-02-20 20:21:28 -07:00
parent 6742028ba9
commit 01a0327cf3
5 changed files with 52 additions and 37 deletions
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src/main/java/frc4388/robot/subsystems/Shooter.java
+22 -1
View File
@@ -48,6 +48,9 @@ public class Shooter extends SubsystemBase {
double velP;
double input;
public boolean velReached;
public double m_fireVel;
public double m_fireAngle;
/*
* Creates a new Shooter subsystem.
@@ -79,6 +82,13 @@ public class Shooter extends SubsystemBase {
SmartDashboard.putNumber("Shooter Velocity", m_shooterFalcon.getSelectedSensorVelocity()*600/ShooterConstants.ENCODER_TICKS_PER_REV);
}
public double addFireVel() {
return m_fireVel;
}
public double addFireAngle() {
return m_fireAngle;
}
/**
* Runs drum shooter motor.
* @param speed Speed to set the motor at
@@ -105,15 +115,26 @@ public class Shooter extends SubsystemBase {
public void runDrumShooterVelocityPID(double targetVel, double actualVel) {
velP = actualVel/targetVel; //Percent of target
double runSpeed = actualVel + (12000*velP); //Ramp up equation
//if (runSpeed > targetVel) {runSpeed = targetVel;}
SmartDashboard.putNumber("shoot", actualVel);
runSpeed = runSpeed/targetVel; //Convert to percent
if (actualVel < targetVel - 1000){ //PID Based on ramp up amount
m_shooterFalcon.set(TalonFXControlMode.PercentOutput, runSpeed);
}
else{ //PID Based on targetVel
m_shooterFalcon.set(TalonFXControlMode.Velocity, targetVel); //Init PID
}
//Tells wether the target velocity has been reached
double upperBound = targetVel + 300;
double lowerBound = targetVel - 300;
if (actualVel < upperBound && actualVel > lowerBound)
{
velReached = true;
}
else{
velReached = false;
}
}
src/main/java/frc4388/robot/subsystems/Storage.java
+12 -10
View File
@@ -18,7 +18,7 @@ import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Gains;
import frc4388.robot.Constants.StorageConstants;
public class Storage extends SubsystemBase {
@@ -29,6 +29,8 @@ public class Storage extends SubsystemBase {
CANEncoder m_encoder = m_storageMotor.getEncoder();
public static Gains m_storageGains = StorageConstants.STORAGE_GAINS;
/**
* Creates a new Storage.
*/
@@ -65,21 +67,21 @@ public class Storage extends SubsystemBase {
}
/* Storage PID Control */
public void runStoragePositionPID(double targetPos, double kP, double kI, double kD, double kIz, double kF, double kmaxOutput, double kminOutput)
public void runStoragePositionPID(double targetPos)
{
// Set PID Coefficients
m_storagePIDController.setP(kP);
m_storagePIDController.setI(kI);
m_storagePIDController.setD(kD);
m_storagePIDController.setIZone(kIz);
m_storagePIDController.setFF(kF);
m_storagePIDController.setOutputRange(kminOutput, kmaxOutput);
m_storagePIDController.setP(m_storageGains.m_kP);
m_storagePIDController.setI(m_storageGains.m_kI);
m_storagePIDController.setD(m_storageGains.m_kD);
m_storagePIDController.setIZone(m_storageGains.m_kIzone);
m_storagePIDController.setFF(m_storageGains.m_kF);
m_storagePIDController.setOutputRange(StorageConstants.storkminOutput, m_storageGains.m_kmaxOutput);
m_storagePIDController.setReference(targetPos, ControlType.kPosition);
}
public void getEncoderPos()
public double getEncoderPos()
{
m_encoder.getPosition();
return m_encoder.getPosition();
}
}