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Fix Dead assist so it uses the right constants and TurnRate code

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This commit is contained in:
Keenan D. Buckley
2020-02-19 19:15:45 -07:00
parent 9c2a897236
commit 11f7f2272e
5 changed files with 10 additions and 9 deletions
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src/main/java/frc4388/robot/Constants.java
+1 -1
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@@ -31,7 +31,7 @@ public final class Constants {
public static final int DRIVE_TIMEOUT_MS = 30;
public static final Gains DRIVE_DISTANCE_GAINS = new Gains(0.1, 0.0, 1.0, 0.0, 0, 0.3);
public static final Gains DRIVE_VELOCITY_GAINS = new Gains(0.1, 0.0, 0.2, 0.025, 0, 0.05);
public static final Gains DRIVE_TURNING_GAINS = new Gains(0.5, 0.0, 0.0, 0.05, 0, 0.5);
public static final Gains DRIVE_TURNING_GAINS = new Gains(0.5, 0.0, 0.05, 0.0, 0, 0.5);
//public static final Gains DRIVE_MOTION_MAGIC_GAINS = new Gains(0.2, 0.0, 0.0, 0.0, 0, 1.0);
//public static final int DRIVE_CRUISE_VELOCITY = 20000;
//public static final int DRIVE_ACCELERATION = 7000;
src/main/java/frc4388/robot/RobotContainer.java
+1
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@@ -33,6 +33,7 @@ import frc4388.robot.commands.DriveStraightToPositionMM;
import frc4388.robot.commands.DriveStraightToPositionPID;
import frc4388.robot.commands.DriveWithJoystick;
import frc4388.robot.commands.DriveWithJoystickUsingDeadAssistPID;
import frc4388.robot.commands.DriveWithJoystickDriveStraight;
import frc4388.robot.commands.RunClimberWithTriggers;
import frc4388.robot.commands.RunExtenderOutIn;
import frc4388.robot.commands.RunIntakeWithTriggers;
src/main/java/frc4388/robot/commands/DriveWithJoystickDriveStraight.java
+2 -2
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@@ -47,7 +47,7 @@ public class DriveWithJoystickDriveStraight extends CommandBase {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
m_currentGyro = m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN);
m_currentGyro = m_drive.m_rightFrontMotor.getSelectedSensorPosition(1);
double moveInput = -m_controller.getLeftYAxis();
double steerInput = m_controller.getRightXAxis();
double moveOutput = 0;
@@ -102,7 +102,7 @@ public class DriveWithJoystickDriveStraight extends CommandBase {
private void resetGyroTarget() {
//m_targetGyro = m_currentGyro;
m_targetGyro = m_currentGyro
+ (3 * m_drive.m_rightFrontMotor.getSelectedSensorVelocity(1));
+ m_drive.getTurnRate();
}
// Called once the command ends or is interrupted.
src/main/java/frc4388/robot/commands/DriveWithJoystickUsingDeadAssistPID.java
+1 -5
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@@ -131,11 +131,7 @@ public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
private void resetGyroTarget() {
m_targetGyro = m_currentGyro;
m_targetGyro = m_currentGyro
+ (3 * m_drive.m_rightFrontMotor.getSelectedSensorVelocity(1));
m_targetGyro = MathUtil.clamp( m_targetGyro,
m_currentGyro-(DriveConstants.TICKS_PER_GYRO_REV/8),
m_currentGyro+(DriveConstants.TICKS_PER_GYRO_REV/8));
+ m_drive.getTurnRate();
}
// Called once the command ends or is interrupted.
src/main/java/frc4388/robot/subsystems/Drive.java
+5 -1
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@@ -318,6 +318,9 @@ public class Drive extends SubsystemBase {
SmartDashboard.putString("Odometry Values Meters", getPose().toString());
SmartDashboard.putNumber("Odometry Heading", getHeading());
SmartDashboard.putNumber("Time Seconds", m_currentTimeSec);
//SmartDashboard.putNumber("Delta Time", m_deltaTime);
} catch (Exception e) {
System.err.println("Error in the Drive Subsystem");
// e.printStackTrace(System.err);
@@ -539,7 +542,8 @@ public class Drive extends SubsystemBase {
*/
public double getTurnRate() {
double deltaYaw = m_currentAngleYaw - m_lastAngleYaw;
return deltaYaw / (m_deltaTime/1000);
double turnRate = 1000 * deltaYaw / m_deltaTime;
return turnRate;
}
/**