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Finished Elevator Robot Challenge

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This commit is contained in:
aarav18
2020-01-18 14:29:30 -08:00
parent d4be141676
commit 101cfb5d10
8 changed files with 105 additions and 9 deletions
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src/main/java/frc4388/robot/subsystems/Elevator.java
+28
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@@ -7,11 +7,13 @@
package frc4388.robot.subsystems;
import com.ctre.phoenix.motorcontrol.ControlMode;
import com.ctre.phoenix.motorcontrol.InvertType;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Gains;
import frc4388.robot.Constants.ElevatorConstants;
public class Elevator extends SubsystemBase {
@@ -19,13 +21,16 @@ public class Elevator extends SubsystemBase {
public WPI_TalonSRX m_talon1 = new WPI_TalonSRX(ElevatorConstants.TALON_1);
public WPI_TalonSRX m_talon2 = new WPI_TalonSRX(ElevatorConstants.TALON_2);
public static Gains m_gains = ElevatorConstants.ELEVATOR_GAINS;
/**
* Creates a new Elevator.
*/
public Elevator() {
//resets motors
m_talon1.configFactoryDefault();
m_talon2.configFactoryDefault();
//config following settings
m_talon2.follow(m_talon1);
m_talon1.setNeutralMode(NeutralMode.Brake);
@@ -35,6 +40,13 @@ public class Elevator extends SubsystemBase {
m_talon2.setInverted(false);
m_talon1.setInverted(InvertType.FollowMaster);
m_talon2.setInverted(InvertType.FollowMaster);
m_talon1.setSelectedSensorPosition(0, ElevatorConstants.ELEVATOR_PID_LOOP_IDX, ElevatorConstants.ELEVATOR_TIMEOUT_MS);
m_talon2.setSelectedSensorPosition(0, ElevatorConstants.ELEVATOR_PID_LOOP_IDX, ElevatorConstants.ELEVATOR_TIMEOUT_MS);
int closedLoopTimeMs = 1;
m_talon1.configClosedLoopPeriod(0, closedLoopTimeMs, ElevatorConstants.ELEVATOR_TIMEOUT_MS);
m_talon1.configClosedLoopPeriod(1, closedLoopTimeMs, ElevatorConstants.ELEVATOR_TIMEOUT_MS);
}
@Override
@@ -45,4 +57,20 @@ public class Elevator extends SubsystemBase {
m_talon1.set(speed);
m_talon2.set(speed);
}
public void setElevatorGains(){
m_talon1.selectProfileSlot(ElevatorConstants.ELEVATOR_SLOT_IDX, ElevatorConstants.ELEVATOR_PID_LOOP_IDX);
m_talon1.config_kF(ElevatorConstants.ELEVATOR_SLOT_IDX, m_gains.kF, ElevatorConstants.ELEVATOR_TIMEOUT_MS);
m_talon1.config_kP(ElevatorConstants.ELEVATOR_SLOT_IDX, m_gains.kP, ElevatorConstants.ELEVATOR_TIMEOUT_MS);
m_talon1.config_kI(ElevatorConstants.ELEVATOR_SLOT_IDX, m_gains.kI, ElevatorConstants.ELEVATOR_TIMEOUT_MS);
m_talon1.config_kD(ElevatorConstants.ELEVATOR_SLOT_IDX, m_gains.kD, ElevatorConstants.ELEVATOR_TIMEOUT_MS);
m_talon2.selectProfileSlot(ElevatorConstants.ELEVATOR_SLOT_IDX, ElevatorConstants.ELEVATOR_PID_LOOP_IDX);
m_talon2.config_kF(ElevatorConstants.ELEVATOR_SLOT_IDX, m_gains.kF, ElevatorConstants.ELEVATOR_TIMEOUT_MS);
m_talon2.config_kP(ElevatorConstants.ELEVATOR_SLOT_IDX, m_gains.kP, ElevatorConstants.ELEVATOR_TIMEOUT_MS);
m_talon2.config_kI(ElevatorConstants.ELEVATOR_SLOT_IDX, m_gains.kI, ElevatorConstants.ELEVATOR_TIMEOUT_MS);
m_talon2.config_kD(ElevatorConstants.ELEVATOR_SLOT_IDX, m_gains.kD, ElevatorConstants.ELEVATOR_TIMEOUT_MS);
}
public void runElevatorPositionPID(WPI_TalonSRX talon, double targetPos) {
talon.set(ControlMode.Position, targetPos);
}
}