Team4388/RiseOfRidgebotics2020
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PIDs fully added and tested for Neos

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When robot is enabled once after robot code is deplyed, the program works. But, after the robot is disabled and re-enabled, the neo attempts to stay at one position and PID loops will no longer run because the Neo is focused on one position.

There were also several commands taken out when testing (ie. the idle shooter command)
This commit is contained in:
mayabartels
2020-02-13 18:57:11 -08:00
parent 668b57a4f8
commit 29cdf74ea1
2 changed files with 19 additions and 1 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+3 -1
View File
@@ -137,9 +137,11 @@ public class RobotContainer {
/* TEST shooter rotate PIDs */
new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON)
.whileHeld(new RunCommand(() -> m_robotShooter.runAngleAdjustPID(1, 0.2, 0.0, 0.0, 0.0, 0.0, 1, -1)));
.whileHeld(new RunCommand(() -> m_robotShooter.runAngleAdjustPID(360, 0.2, 0.0, 0.0, 0.0, 0.0, 1, -1)));
new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
.whileHeld(new RunCommand(() -> m_robotShooter.runshooterRotatePID(360, 0.2, 0.0, 0.0, 0.0, 0.0, 1, -1)));
new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
.whileHeld(new RunCommand(() -> m_robotShooter.runshooterRotatePID(720, 0.2, 0.0, 0.0, 0.0, 0.0, 1, -1)));
/* TEST for both commands above */
}
src/main/java/frc4388/robot/subsystems/Shooter.java
+16
View File
@@ -41,6 +41,10 @@ public class Shooter extends SubsystemBase {
* Creates a new Shooter subsystem.
*/
public Shooter() {
//Testing purposes reseting gyros
resetGyroAngleAdj();
resetGyroShooterRotate();
m_shooterFalcon.configFactoryDefault();
m_shooterFalcon.setNeutralMode(NeutralMode.Coast);
@@ -134,4 +138,16 @@ public class Shooter extends SubsystemBase {
m_shooterRotatePIDController.setReference(targetAngle, ControlType.kPosition);
}
/* For Testing Purposes, reseting gyro for angle adjuster */
public void resetGyroAngleAdj()
{
m_angleEncoder.setPosition(0);
}
/* For Testing Purposes, reseting gyro for shooter rotation */
public void resetGyroShooterRotate()
{
m_shooterRotateEncoder.setPosition(0);
}
}