From 2f2a01e95de39db3af4842efbc2c68a34921428c Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Fri, 5 Mar 2021 12:24:11 -0700 Subject: [PATCH] adjusted drum PIDs Using a P loop with a feedforward value. Works well even when rapid shooting. TODO Recollect CSV data values Co-Authored-By: Nirvan Bhalala <78400306+nbhalala27@users.noreply.github.com> --- src/main/java/frc4388/robot/Constants.java | 2 +- src/main/java/frc4388/robot/RobotContainer.java | 6 +++--- .../frc4388/robot/commands/shooter/CalibrateShooter.java | 2 +- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 831163e..53037d1 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -121,7 +121,7 @@ public final class Constants { public static final int SHOOTER_SLOT_IDX = 0; public static final int SHOOTER_PID_LOOP_IDX = 1; public static final int SHOOTER_TIMEOUT_MS = 30; - public static final Gains DRUM_SHOOTER_GAINS = new Gains(1.5, 0.0, 100, 0.055, 0, 1.0); + public static final Gains DRUM_SHOOTER_GAINS = new Gains(0.34, 0.0, 0.0, 0.055, 0, 1.0); //Ff was 0.055 //public static final Gains DRUM_SHOOTER_GAINS = new Gains(0.55, 0.0, 100, 0.0, 0, 1.0); public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.6, 0.0, 0.0, 0.0, 0, 1.0); public static final Gains SHOOTER_ANGLE_GAINS = new Gains(0.05, 0.0, 0.0, 0.0, 0, 0.3); diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index f129ce7..34a2360 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -238,12 +238,12 @@ public class RobotContainer { new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON) //.whileHeld(new RunCommand(() -> m_robotIntake.runExtender(0.5))) //.whenReleased(new InstantCommand(() -> m_robotIntake.runExtender(0))); - .whileHeld(new RunCommand(() -> m_robotShooterHood.runHood(0.5), m_robotShooterHood)); + .whileHeld(new RunCommand(() -> m_robotShooterHood.runHood(0.2), m_robotShooterHood)); new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON) //.whileHeld(new RunCommand(() -> m_robotIntake.runExtender(-0.5))) //.whenReleased(new InstantCommand(() -> m_robotIntake.runExtender(0))); - .whileHeld(new RunCommand(() -> m_robotShooterHood.runHood(-0.5), m_robotShooterHood)); + .whileHeld(new RunCommand(() -> m_robotShooterHood.runHood(-0.2), m_robotShooterHood)); // safety for climber and leveler new JoystickButton(getOperatorJoystick(), XboxController.BACK_BUTTON) @@ -257,7 +257,7 @@ public class RobotContainer { //.whenPressed(new StoragePrep(m_robotStorage)) //.whenReleased(new InterruptSubystem(m_robotStorage)) .whenReleased(new InstantCommand(() -> m_robotLime.limeOff())); - //.whileHeld(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(13000))); + //.whileHeld(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(11000))); //.whileHeld(new HoldTarget(m_robotShooter, m_robotShooterAim)) //.whileHeld(new RunCommand(() -> m_robotShooter.runAngleAdjustPID(30))); diff --git a/src/main/java/frc4388/robot/commands/shooter/CalibrateShooter.java b/src/main/java/frc4388/robot/commands/shooter/CalibrateShooter.java index 5e28114..14e19ce 100644 --- a/src/main/java/frc4388/robot/commands/shooter/CalibrateShooter.java +++ b/src/main/java/frc4388/robot/commands/shooter/CalibrateShooter.java @@ -61,7 +61,7 @@ public class CalibrateShooter extends CommandBase { @Override public boolean isFinished() { if (m_shooterAim.m_shooterRotateMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen).get() && - m_shooterHood.m_angleAdjustMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen).get()) { + m_shooterHood.m_hoodDownLimit.get()) { return true; } return false;