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Tune Shooter

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This commit is contained in:
Keenan D. Buckley
2020-03-12 19:15:36 -06:00
parent a1632fa688
commit 3960f3ff55
6 changed files with 249 additions and 406 deletions
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src/main/deploy/Robot Data - Distances.csv
+6 -13
View File
@@ -1,14 +1,7 @@
Distance (in),Hood Ext. (u),Drum Velocity (u/ds),Center Displacment (deg)
1,10,8000,2
70,21,8000,2, check
100,24,9000,2
145,28,10000,1
230,31,12000,0,Add a 270
246,32,15000,0
320,32,17000,0,change 17000 and mark them lower
331,33,17000,0
397,33,16000,0
415,33,16250,0
436,31,18000,0
500,33,18000,0
501,33,18000,0
70,20,7000,2.5,
127,27,8467,2,
223,31.25,10398,2.75,
272,32.4,11776,2.5,
342,33,13733,2,
458,30.5,17000,0,
1 Distance (in),Hood Ext. (u),Drum Velocity (u/ds),Center Displacment (deg)
2 1,10,8000,2 70,20,7000,2.5,
3 70,21,8000,2, check 127,27,8467,2,
4 100,24,9000,2 223,31.25,10398,2.75,
5 145,28,10000,1 272,32.4,11776,2.5,
6 230,31,12000,0,Add a 270 342,33,13733,2,
7 246,32,15000,0 458,30.5,17000,0,
320,32,17000,0,change 17000 and mark them lower
331,33,17000,0
397,33,16000,0
415,33,16250,0
436,31,18000,0
500,33,18000,0
501,33,18000,0
src/main/deploy/Robot Data - DistancesOLD.csv
+8
View File
@@ -0,0 +1,8 @@
Distance (in),Hood Ext. (u),Drum Velocity (u/ds),Center Displacment (deg)
1,10,7769,0
70,21,7769,0, check
100,24,8580,0
145,28,9390,0
230,31,11010,0,Add a 270
397,33,14250,0
415,33,14452,0
1 Distance (in),Hood Ext. (u),Drum Velocity (u/ds),Center Displacment (deg)
2 1,10,7769,0
3 70,21,7769,0, check
4 100,24,8580,0
5 145,28,9390,0
6 230,31,11010,0,Add a 270
7 397,33,14250,0
8 415,33,14452,0
src/main/deploy/driverStation/GOAT DRIVERSTATION.json → src/main/driverStation/GOAT DRIVERSTATION.json
+228 -387
View File
@@ -17,88 +17,11 @@
],
"content": {
"_type": "Text View",
"_source0": "network_table:///SmartDashboard/Shooter Current",
"_title": "Shooter Current"
"_source0": "network_table:///SmartDashboard/limelight_Stream",
"_title": "limelight_Stream"
}
},
"1,0": {
"size": [
1,
1
],
"content": {
"_type": "Text View",
"_source0": "network_table:///SmartDashboard/Delta Time",
"_title": "Delta Time"
}
},
"2,0": {
"size": [
1,
1
],
"content": {
"_type": "Text View",
"_source0": "network_table:///SmartDashboard/Time Seconds",
"_title": "Time Seconds"
}
},
"3,0": {
"size": [
1,
1
],
"content": {
"_type": "Text View",
"_source0": "network_table:///SmartDashboard/Shooter Temp C",
"_title": "Shooter Temp C"
}
},
"4,0": {
"size": [
1,
1
],
"content": {
"_type": "Text View",
"_source0": "network_table:///SmartDashboard/Auto?",
"_title": "Auto?"
}
},
"5,0": {
"size": [
1,
1
],
"content": {
"_type": "Text View",
"_source0": "network_table:///SmartDashboard/Fire Angle CSV",
"_title": "Fire Angle CSV"
}
},
"6,0": {
"size": [
1,
1
],
"content": {
"_type": "Text View",
"_source0": "network_table:///SmartDashboard/Drum Velocity",
"_title": "Drum Velocity"
}
},
"7,0": {
"size": [
1,
1
],
"content": {
"_type": "Text View",
"_source0": "network_table:///SmartDashboard/Drum Velocity CSV",
"_title": "Drum Velocity CSV"
}
},
"8,0": {
"size": [
1,
1
@@ -109,7 +32,7 @@
"_title": "limelight_PipelineName"
}
},
"9,0": {
"2,0": {
"size": [
1,
1
@@ -120,18 +43,18 @@
"_title": "limelight_Interface"
}
},
"0,1": {
"3,0": {
"size": [
1,
1
],
"content": {
"_type": "Text View",
"_source0": "network_table:///SmartDashboard/limelight_Stream",
"_title": "limelight_Stream"
"_source0": "network_table:///SmartDashboard/Auto?",
"_title": "Auto?"
}
},
"1,1": {
"4,0": {
"size": [
2,
2
@@ -146,33 +69,7 @@
"Visuals/Counter clockwise": false
}
},
"3,1": {
"size": [
1,
1
],
"content": {
"_type": "Boolean Box",
"_source0": "network_table:///SmartDashboard/Climber Safety",
"_title": "Climber Safety",
"Colors/Color when true": "#7CFC00FF",
"Colors/Color when false": "#8B0000FF"
}
},
"4,1": {
"size": [
1,
1
],
"content": {
"_type": "Boolean Box",
"_source0": "network_table:///SmartDashboard/Rachet",
"_title": "Rachet",
"Colors/Color when true": "#7CFC00FF",
"Colors/Color when false": "#8B0000FF"
}
},
"5,1": {
"6,0": {
"size": [
3,
2
@@ -186,7 +83,51 @@
"Visuals/Show velocity vectors": true
}
},
"8,1": {
"9,0": {
"size": [
1,
1
],
"content": {
"_type": "Text View",
"_source0": "network_table:///SmartDashboard/Left Motor Position Raw",
"_title": "Left Motor Position Raw"
}
},
"0,1": {
"size": [
1,
1
],
"content": {
"_type": "Text View",
"_source0": "network_table:///SmartDashboard/Right Motor Position Raw",
"_title": "Right Motor Position Raw"
}
},
"1,1": {
"size": [
1,
1
],
"content": {
"_type": "Text View",
"_source0": "network_table:///SmartDashboard/Average Motor Position Raw",
"_title": "Average Motor Position Raw"
}
},
"2,1": {
"size": [
1,
1
],
"content": {
"_type": "Text View",
"_source0": "network_table:///SmartDashboard/Avg Speed MPH",
"_title": "Avg Speed MPH"
}
},
"3,1": {
"size": [
1,
1
@@ -205,11 +146,9 @@
1
],
"content": {
"_type": "Boolean Box",
"_source0": "network_table:///SmartDashboard/Drum Ready",
"_title": "Drum Ready",
"Colors/Color when true": "#7CFC00FF",
"Colors/Color when false": "#8B0000FF"
"_type": "Text View",
"_source0": "network_table:///SmartDashboard/Drum Velocity",
"_title": "Drum Velocity"
}
},
"0,2": {
@@ -218,11 +157,31 @@
1
],
"content": {
"_type": "Boolean Box",
"_source0": "network_table:///SmartDashboard/Shooter Beam",
"_title": "Shooter Beam",
"Colors/Color when true": "#7CFC00FF",
"Colors/Color when false": "#8B0000FF"
"_type": "Text View",
"_source0": "network_table:///SmartDashboard/Drum Velocity CSV",
"_title": "Drum Velocity CSV"
}
},
"1,2": {
"size": [
1,
1
],
"content": {
"_type": "Text View",
"_source0": "network_table:///SmartDashboard/Shooter Temp C",
"_title": "Shooter Temp C"
}
},
"2,2": {
"size": [
1,
1
],
"content": {
"_type": "Text View",
"_source0": "network_table:///SmartDashboard/Shooter Current",
"_title": "Shooter Current"
}
},
"3,2": {
@@ -232,13 +191,39 @@
],
"content": {
"_type": "Boolean Box",
"_source0": "network_table:///SmartDashboard/Upper Beam",
"_title": "Upper Beam",
"_source0": "network_table:///SmartDashboard/Drum Ready",
"_title": "Drum Ready",
"Colors/Color when true": "#7CFC00FF",
"Colors/Color when false": "#8B0000FF"
}
},
"4,2": {
"size": [
1,
1
],
"content": {
"_type": "Text View",
"_source0": "network_table:///SmartDashboard/Turret Angle Raw",
"_title": "Turret Angle Raw"
}
},
"5,2": {
"size": [
2,
2
],
"content": {
"_type": "Gyro",
"_source0": "network_table:///SmartDashboard/Turret Angle",
"_title": "Turret Angle",
"Visuals/Major tick spacing": 45.0,
"Visuals/Starting angle": 180.0,
"Visuals/Show tick mark ring": true,
"Visuals/Counter clockwise": false
}
},
"7,2": {
"size": [
1,
1
@@ -252,6 +237,54 @@
}
},
"8,2": {
"size": [
1,
1
],
"content": {
"_type": "Text View",
"_source0": "network_table:///SmartDashboard/Fire Angle CSV",
"_title": "Fire Angle CSV"
}
},
"9,2": {
"size": [
1,
1
],
"content": {
"_type": "Text View",
"_source0": "network_table:///SmartDashboard/Hood Angle Raw",
"_title": "Hood Angle Raw"
}
},
"0,3": {
"size": [
1,
1
],
"content": {
"_type": "Boolean Box",
"_source0": "network_table:///SmartDashboard/Climber Safety",
"_title": "Climber Safety",
"Colors/Color when true": "#7CFC00FF",
"Colors/Color when false": "#8B0000FF"
}
},
"1,3": {
"size": [
1,
1
],
"content": {
"_type": "Boolean Box",
"_source0": "network_table:///SmartDashboard/Rachet",
"_title": "Rachet",
"Colors/Color when true": "#7CFC00FF",
"Colors/Color when false": "#8B0000FF"
}
},
"2,3": {
"size": [
1,
1
@@ -264,7 +297,7 @@
"Colors/Color when false": "#8B0000FF"
}
},
"9,2": {
"3,3": {
"size": [
1,
1
@@ -277,226 +310,31 @@
"Colors/Color when false": "#8B0000FF"
}
},
"0,3": {
"size": [
1,
1
],
"content": {
"_type": "Text View",
"_source0": "network_table:///SmartDashboard/Left Motor Position Raw",
"_title": "Left Motor Position Raw"
}
},
"1,3": {
"size": [
1,
1
],
"content": {
"_type": "Text View",
"_source0": "network_table:///SmartDashboard/Right Motor Position Raw",
"_title": "Right Motor Position Raw"
}
},
"2,3": {
"size": [
1,
1
],
"content": {
"_type": "Text View",
"_source0": "network_table:///SmartDashboard/Average Motor Position Raw",
"_title": "Average Motor Position Raw"
}
},
"3,3": {
"size": [
1,
1
],
"content": {
"_type": "Text View",
"_source0": "network_table:///SmartDashboard/Avg Speed MPH",
"_title": "Avg Speed MPH"
}
},
"4,3": {
"size": [
1,
1
],
"content": {
"_type": "Text View",
"_source0": "network_table:///SmartDashboard/Turret Angle Raw",
"_title": "Turret Angle Raw"
"_type": "Boolean Box",
"_source0": "network_table:///SmartDashboard/Upper Beam",
"_title": "Upper Beam",
"Colors/Color when true": "#7CFC00FF",
"Colors/Color when false": "#8B0000FF"
}
},
"5,3": {
"7,3": {
"size": [
1,
1
],
"content": {
"_type": "Boolean Box",
"_source0": "network_table:///SmartDashboard/Aim Ready",
"_title": "Aim Ready",
"_source0": "network_table:///SmartDashboard/Shooter Beam",
"_title": "Shooter Beam",
"Colors/Color when true": "#7CFC00FF",
"Colors/Color when false": "#8B0000FF"
}
},
"6,3": {
"size": [
2,
2
],
"content": {
"_type": "Gyro",
"_source0": "network_table:///SmartDashboard/Turret Angle",
"_title": "Turret Angle",
"Visuals/Major tick spacing": 45.0,
"Visuals/Starting angle": 180.0,
"Visuals/Show tick mark ring": true,
"Visuals/Counter clockwise": false
}
},
"8,3": {
"size": [
1,
1
],
"content": {
"_type": "Text View",
"_source0": "network_table:///SmartDashboard/Hood Angle Raw",
"_title": "Hood Angle Raw"
}
},
"9,3": {
"size": [
1,
1
],
"content": {
"_type": "Boolean Box",
"_source0": "network_table:///SmartDashboard/!Ball in Intake!",
"_title": "!Ball in Intake!",
"Colors/Color when true": "#7CFC00FF",
"Colors/Color when false": "#8B0000FF"
}
},
"0,4": {
"size": [
1,
1
],
"content": {
"_type": "Boolean Box",
"_source0": "network_table:///SmartDashboard/!Ball Storage!",
"_title": "!Ball Storage!",
"Colors/Color when true": "#7CFC00FF",
"Colors/Color when false": "#8B0000FF"
}
},
"1,4": {
"size": [
1,
1
],
"content": {
"_type": "Boolean Box",
"_source0": "network_table:///SmartDashboard/!Ball Shooter!",
"_title": "!Ball Shooter!",
"Colors/Color when true": "#7CFC00FF",
"Colors/Color when false": "#8B0000FF"
}
},
"2,4": {
"size": [
1,
1
],
"content": {
"_type": "Text View",
"_source0": "network_table:///SmartDashboard/Distance to Target",
"_title": "Distance to Target"
}
},
"3,4": {
"size": [
1,
1
],
"content": {
"_type": "Text View",
"_source0": "network_table:///SmartDashboard/Center Displacement",
"_title": "Center Displacement"
}
},
"4,4": {
"size": [
1,
1
],
"content": {
"_type": "Text View",
"_source0": "network_table:///SmartDashboard/Is Auto Start?",
"_title": "Is Auto Start?"
}
},
"5,4": {
"size": [
1,
1
],
"content": {
"_type": "Text View",
"_source0": "network_table:///SmartDashboard/Left Motor Pos Inches",
"_title": "Left Motor Pos Inches"
}
},
"8,4": {
"size": [
1,
1
],
"content": {
"_type": "Text View",
"_source0": "network_table:///SmartDashboard/Right Motor Pos Inches",
"_title": "Right Motor Pos Inches"
}
},
"9,4": {
"size": [
1,
1
],
"content": {
"_type": "Text View",
"_source0": "network_table:///SmartDashboard/Left Motor Pos Meters",
"_title": "Left Motor Pos Meters"
}
},
"0,5": {
"size": [
1,
1
],
"content": {
"_type": "Text View",
"_source0": "network_table:///SmartDashboard/Right Motor Pos Meters",
"_title": "Right Motor Pos Meters"
}
},
"1,5": {
"size": [
1,
1
],
"content": {
"_type": "Text View",
"_source0": "network_table:///SmartDashboard/Odometry Values Meters",
"_title": "Odometry Values Meters"
}
}
}
}
@@ -773,46 +611,6 @@
"hgap": 16.0,
"vgap": 16.0,
"tiles": {
"8,6": {
"size": [
2,
2
],
"content": {
"_type": "Gyro",
"_title": "Gyro",
"Visuals/Major tick spacing": 45.0,
"Visuals/Starting angle": 180.0,
"Visuals/Show tick mark ring": true,
"Visuals/Counter clockwise": false
}
},
"8,5": {
"size": [
2,
1
],
"content": {
"_type": "Simple Dial",
"_title": "Simple Dial",
"Range/Min": 0.0,
"Range/Max": 100.0,
"Visuals/Show value": true
}
},
"8,0": {
"size": [
2,
1
],
"content": {
"_type": "Simple Dial",
"_title": "Simple Dial",
"Range/Min": 0.0,
"Range/Max": 100.0,
"Visuals/Show value": true
}
},
"0,0": {
"size": [
4,
@@ -865,21 +663,6 @@
"Visuals/Show value": true
}
},
"7,1": {
"size": [
3,
3
],
"content": {
"_type": "Gyro",
"_source0": "network_table:///SmartDashboard/Pigeon Gyro",
"_title": "SmartDashboard/Pigeon Gyro",
"Visuals/Major tick spacing": 45.0,
"Visuals/Starting angle": 180.0,
"Visuals/Show tick mark ring": true,
"Visuals/Counter clockwise": false
}
},
"4,3": {
"size": [
1,
@@ -1010,15 +793,73 @@
"Colors/Color when true": "#7CFC00FF",
"Colors/Color when false": "#8B0000FF"
}
},
"8,6": {
"size": [
2,
2
],
"content": {
"_type": "Gyro",
"_source0": "network_table:///SmartDashboard/Turret Angle",
"_title": "SmartDashboard/Turret Angle",
"Visuals/Major tick spacing": 45.0,
"Visuals/Starting angle": 180.0,
"Visuals/Show tick mark ring": true,
"Visuals/Counter clockwise": false
}
},
"7,1": {
"size": [
3,
3
],
"content": {
"_type": "Gyro",
"_source0": "network_table:///SmartDashboard/Pigeon Gyro",
"_title": "SmartDashboard/Pigeon Gyro",
"Visuals/Major tick spacing": 45.0,
"Visuals/Starting angle": 180.0,
"Visuals/Show tick mark ring": true,
"Visuals/Counter clockwise": false
}
},
"8,0": {
"size": [
2,
1
],
"content": {
"_type": "Simple Dial",
"_source0": "network_table:///SmartDashboard/Avg Speed MPH",
"_title": "SmartDashboard/Avg Speed MPH",
"Range/Min": 0.0,
"Range/Max": 100.0,
"Visuals/Show value": true
}
},
"8,5": {
"size": [
2,
1
],
"content": {
"_type": "Simple Dial",
"_source0": "network_table:///SmartDashboard/Hood Angle Raw",
"_title": "SmartDashboard/Hood Angle Raw",
"Range/Min": 0.0,
"Range/Max": 66.0,
"Visuals/Show value": true
}
}
}
}
}
],
"windowGeometry": {
"x": -7.199999809265137,
"y": -7.199999809265137,
"width": 1550.4000244140625,
"height": 878.4000244140625
"x": 40.0,
"y": 142.39999389648438,
"width": 1547.199951171875,
"height": 1481.5999755859375
}
}
src/main/deploy/driverStation/themes/Ridgbotics/ridgeboticstheme.css → src/main/driverStation/themes/Ridgbotics/ridgeboticstheme.css
View File
src/main/java/frc4388/robot/Constants.java
+6 -5
View File
@@ -117,7 +117,8 @@ public final class Constants {
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 SHOOTER_TURRET_GAINS = new Gains(0.0, 0.0, 0.0, 0.0, 0, 1.0);
//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);
public static final double SHOOTER_TURRET_MIN = -1.0;
public static final double ENCODER_TICKS_PER_REV = 2048;
@@ -131,8 +132,8 @@ public final class Constants {
public static final int TURRET_LEFT_SOFT_LIMIT = -55;
public static final double TURRET_SPEED_MULTIPLIER = 0.3;
public static final double TURRET_CALIBRATE_SPEED = 0.075;
public static final double TURRET_MOTOR_ROTS_PER_ROT = 89.56696;
public static final double TURRET_MOTOR_POS_AT_ZERO_ROT = 0; //TODO: Find
public static final double TURRET_MOTOR_ROTS_PER_ROT = 101.04972; //89.56696;
public static final double TURRET_MOTOR_POS_AT_ZERO_ROT = -28.452166;
public static final int HOOD_UP_SOFT_LIMIT = 33;
public static final int HOOD_DOWN_SOFT_LIMIT = 3;
@@ -208,9 +209,9 @@ public final class Constants {
public static final double FOV = 29.8; //Field of view of limelight
public static final double TARGET_HEIGHT = 71.5;
public static final double LIME_ANGLE = 24.7;
public static final double TURN_P_VALUE = 0.6;
public static final double TURN_P_VALUE = 0.8;
public static final double X_ANGLE_ERROR = 1.3;
public static final double MOTOR_DEAD_ZONE = 0.3;
public static final double MOTOR_DEAD_ZONE = 0.2;
public static final double DISTANCE_ERROR_EQUATION_M = 1.1279;
public static final double DISTANCE_ERROR_EQUATION_B = -15.0684;
public static final double GRAV = 385.83;
src/main/java/frc4388/robot/subsystems/Shooter.java
+1 -1
View File
@@ -54,7 +54,7 @@ public class Shooter extends SubsystemBase {
m_shooterFalcon.setNeutralMode(NeutralMode.Coast);
m_shooterFalcon.setInverted(true);
m_shooterFalcon.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS);
//m_shooterFalcon.configClosedloopRamp(1.0, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalcon.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS);
setShooterGains();
m_shooterFalcon.configPeakOutputReverse(0, ShooterConstants.SHOOTER_TIMEOUT_MS);