Team4388/RiseOfRidgebotics2020
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Odometry fixes (but not really)

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- Seems to only work on the left motor in low gear...no idea why
This commit is contained in:
Keenan D. Buckley
2020-02-25 17:47:47 -07:00
parent ac82fdad12
commit 0541a2463c
4 changed files with 29 additions and 13 deletions
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src/main/java/frc4388/robot/Robot.java
+1 -1
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@@ -79,7 +79,7 @@ public class Robot extends TimedRobot {
m_autonomousCommand = m_robotContainer.getAutonomousCommand();
m_robotContainer.setDriveNeutralMode(NeutralMode.Brake);
m_robotContainer.setDriveGearState(true);
//m_robotContainer.setDriveGearState(true);
m_robotContainer.resetOdometry();
//m_robotContainer.configDriveTrainSensors(FeedbackDevice.IntegratedSensor);
src/main/java/frc4388/robot/RobotContainer.java
+1 -1
View File
@@ -92,7 +92,7 @@ public class RobotContainer {
/* Default Commands */
// drives the robot with a two-axis input from the driver controller
m_robotDrive.setDefaultCommand(new DriveWithJoystickUsingDeadAssistPID(m_robotDrive, getDriverController()));
m_robotDrive.setDefaultCommand(new DriveWithJoystick(m_robotDrive, getDriverController()));
// drives intake with input from triggers on the opperator controller
m_robotIntake.setDefaultCommand(new RunIntakeWithTriggers(m_robotIntake, getOperatorController()));
// drives climber with input from triggers on the opperator controller
src/main/java/frc4388/robot/commands/DriveWithJoystick.java
+3 -1
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@@ -52,8 +52,10 @@ public class DriveWithJoystick extends CommandBase {
double deadzone = .2;
if (steerInput > 0){
steerOutput = -cosMultiplier*Math.cos(1.571*steerInput)+(cosMultiplier+deadzone);
} else {
} else if (steerInput < 0) {
steerOutput = cosMultiplier*Math.cos(1.571*steerInput)-(cosMultiplier+deadzone);
} else {
steerOutput = 0;
}
m_drive.driveWithInput(moveOutput, steerOutput);
src/main/java/frc4388/robot/subsystems/Drive.java
+24 -10
View File
@@ -95,6 +95,11 @@ public class Drive extends SubsystemBase {
public double m_lastAngleYaw, m_currentAngleYaw, m_kinematicsTargetAngle;
public double m_totalLeftDistanceInches = 0;
public double m_totalRightDistanceInches = 0;
public double m_lastLeftPosTicks = 0;
public double m_lastRightPosTicks = 0;
/**
* Add your docs here.
*/
@@ -106,7 +111,7 @@ public class Drive extends SubsystemBase {
m_rightBackMotor.configFactoryDefault();
m_pigeon.configFactoryDefault();
resetGyroYaw();
m_odometry = new DifferentialDriveOdometry( Rotation2d.fromDegrees(getHeading()),
new Pose2d(0, 0, new Rotation2d()) );
@@ -298,6 +303,13 @@ public class Drive extends SubsystemBase {
m_rightFrontMotorPos = m_rightFrontMotor.getSelectedSensorPosition();
m_rightFrontMotorVel = m_rightFrontMotor.getSelectedSensorVelocity();
m_totalRightDistanceInches += ticksToInches(m_rightFrontMotor.getSensorCollection().getIntegratedSensorPosition() - m_lastRightPosTicks);
m_totalLeftDistanceInches += ticksToInches(m_leftFrontMotor.getSensorCollection().getIntegratedSensorPosition() - m_lastLeftPosTicks);
m_odometry.update(Rotation2d.fromDegrees( getHeading()),
getDistanceInches(m_rightFrontMotor),
-getDistanceInches(m_rightFrontMotor));
try {
SmartDashboard.putNumber("Pigeon Yaw", getGyroYaw());
@@ -312,8 +324,8 @@ public class Drive extends SubsystemBase {
//SmartDashboard.putNumber("Right Motor Position Raw", m_rightFrontMotor.getSelectedSensorPosition(0));
//SmartDashboard.putNumber("Right Motor Velocity Int Sensor", m_rightFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
//SmartDashboard.putNumber("Left Motor Velocity Int Sensor", m_leftFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
SmartDashboard.putNumber("Left Motor Pos Inches", getDistanceInches(m_leftFrontMotor));
SmartDashboard.putNumber("Right Motor Pos Inches", getDistanceInches(m_rightFrontMotor));
SmartDashboard.putNumber("Left Motor Pos Inches", getDistanceInches(m_rightFrontMotor));
SmartDashboard.putNumber("Right Motor Pos Inches", getDistanceInches(m_leftFrontMotor));
SmartDashboard.putNumber("Right Motor Temp", m_rightFrontMotor.getTemperature());
SmartDashboard.putNumber("Left Motor Temp", m_leftFrontMotor.getTemperature());
@@ -346,9 +358,8 @@ public class Drive extends SubsystemBase {
// e.printStackTrace(System.err);
}
m_odometry.update(Rotation2d.fromDegrees( getHeading()),
getDistanceInches(m_leftBackMotor),
-getDistanceInches(m_rightBackMotor));
m_lastRightPosTicks = m_rightFrontMotor.getSensorCollection().getIntegratedSensorPosition();
m_lastLeftPosTicks = m_leftFrontMotor.getSensorCollection().getIntegratedSensorPosition();
}
public void setRightMotorGains(boolean isHighGear) {
@@ -470,7 +481,7 @@ public class Drive extends SubsystemBase {
m_leftBackMotor.follow(m_leftFrontMotor);
m_rightBackMotor.follow(m_rightFrontMotor);
//m_driveTrain.feedWatchdog();
m_driveTrain.feedWatchdog();
}
/**
@@ -488,7 +499,7 @@ public class Drive extends SubsystemBase {
m_leftBackMotor.follow(m_leftFrontMotor);
m_rightBackMotor.follow(m_rightFrontMotor);
//m_driveTrain.feedWatchdog();
m_driveTrain.feedWatchdog();
}
/**
@@ -619,9 +630,9 @@ public class Drive extends SubsystemBase {
//lol
//sko
//ridge
/**
//brayden=bad coder
* Returns the heading of the robot
/**
* Returns the heading of the robot
* @return The robot's heading in degrees, from -180 to 180
*/
public double getHeading() {
@@ -664,6 +675,9 @@ public class Drive extends SubsystemBase {
m_rightFrontMotor.getSensorCollection().setIntegratedSensorPosition(0, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftBackMotor.getSensorCollection().setIntegratedSensorPosition(0, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightBackMotor.getSensorCollection().setIntegratedSensorPosition(0, DriveConstants.DRIVE_TIMEOUT_MS);
m_totalLeftDistanceInches = 0;
m_totalRightDistanceInches = 0;
}
/**