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Fix Shooter Velocity Control

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& collect more data points
This commit is contained in:
ryan123rudder
2020-03-09 20:05:47 -06:00
parent e4b9969244
commit 3f11fbd979
2 changed files with 5 additions and 7 deletions
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src/main/deploy/Robot Data - Distances.csv
+4 -3
View File
@@ -1,9 +1,10 @@
Distance (in),Hood Ext. (u),Drum Velocity (u/ds),Center Displacment (deg)
1,10,7000,2
70,20,8000,2, double check
1,10,8000,2
70,21,8000,2, check
100,24,9000,2
145,28,10000,1,Add a 200
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
1 Distance (in),Hood Ext. (u),Drum Velocity (u/ds),Center Displacment (deg)
2 1,10,7000,2 1,10,8000,2
3 70,20,8000,2, double check 70,21,8000,2, check
4 100,24,9000,2
5 145,28,10000,1,Add a 200 145,28,10000,1
6 230,31,12000,0,Add a 270
7 246,32,15000,0
8 320,32,17000,0,change 17000 and mark them lower
9 331,33,17000,0
10 397,33,16000,0
src/main/java/frc4388/robot/commands/shooter/ShooterVelocityControlPID.java
+1 -4
View File
@@ -34,10 +34,7 @@ public class ShooterVelocityControlPID extends CommandBase {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
m_shooter.runDrumShooterVelocityPID(/*m_shooter.addFireVel()*/13000);
//m_shooterHood.runAngleAdjustPID(m_shooterHood.addFireAngle());
//SmartDashboard.putNumber("Fire Velocity", m_shooter.addFireVel());
//SmartDashboard.putNumber("Fire Angle", m_shooter.addFireAngle());
m_shooter.runDrumShooterVelocityPID(m_shooter.addFireVel());
}
// Called once the command ends or is interrupted.