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Do Cleanup, Constants, and Docs

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This commit is contained in:
Keenan D. Buckley
2020-01-18 16:12:56 -07:00
parent 4568e31036
commit 41ab970692
2 changed files with 31 additions and 38 deletions
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src/main/java/frc4388/robot/Constants.java
+16 -2
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@@ -27,10 +27,24 @@ public final class Constants {
public static final int PIGEON_ID = 6;
/* PID Constants Drive*/
public static final int DRIVE_SLOT_IDX = 0;
public static final int DRIVE_PID_LOOP_IDX = 0;
public static final int DRIVE_TIMEOUT_MS = 30;
public static final Gains DRIVE_GAINS = new Gains(0.2, 0.0, 0.0, 0.2, 0, 1.0);
public static final int DRIVE_CRUISE_VELOCITY = 15000;
public static final int DRIVE_ACCELERATION = 6000;
/* Remote Sensors */
public final static int REMOTE_0 = 0;
public final static int REMOTE_1 = 1;
/* PID Indexes */
public final static int PID_PRIMARY = 0;
public final static int PID_TURN = 1;
/* PID SLOTS */
public final static int SLOT_DISTANCE = 0;
public final static int SLOT_VELOCITY = 1;
public final static int SLOT_TURNING = 2;
public final static int SLOT_MOTION_MAGIC = 3;
/* Drive Train Characteristics */
public static final double TICKS_PER_MOTOR_REV = 2048;
src/main/java/frc4388/robot/subsystems/Drive.java
+15 -36
View File
@@ -7,8 +7,10 @@
package frc4388.robot.subsystems;
import com.ctre.phoenix.motorcontrol.FeedbackDevice;
import com.ctre.phoenix.motorcontrol.InvertType;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.SensorTerm;
import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.PigeonIMU;
@@ -61,34 +63,14 @@ public class Drive extends SubsystemBase {
m_leftBackMotor.setInverted(InvertType.FollowMaster);
m_rightBackMotor.setInverted(InvertType.FollowMaster);
/* deadbands */
m_leftBackMotor.configNeutralDeadband(0.0); // DO NOT CHANGE
m_rightBackMotor.configNeutralDeadband(0.0); //Ensures motors run at the same speed
/* Motor Encoders */
//m_leftFrontMotor.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, DriveConstants.DRIVE_PID_LOOP_IDX, DriveConstants.DRIVE_TIMEOUT_MS);
//m_rightFrontMotor.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, DriveConstants.DRIVE_PID_LOOP_IDX, DriveConstants.DRIVE_TIMEOUT_MS);
/*m_leftFrontMotor.setStatusFramePeriod(StatusFrameEnhanced.Status_10_MotionMagic, 10, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.setStatusFramePeriod(StatusFrameEnhanced.Status_10_MotionMagic, 10, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftFrontMotor.configNominalOutputForward(0, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftFrontMotor.configNominalOutputReverse(0, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftFrontMotor.configPeakOutputForward(1, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftFrontMotor.configPeakOutputReverse(-1, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configNominalOutputForward(0, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configNominalOutputReverse(0, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configPeakOutputForward(1, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configPeakOutputReverse(-1, DriveConstants.DRIVE_TIMEOUT_MS);*/
setDriveTrainGains();
m_leftFrontMotor.configMotionCruiseVelocity(15000, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftFrontMotor.configMotionAcceleration(6000, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configMotionCruiseVelocity(15000, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configMotionAcceleration(6000, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftFrontMotor.setSelectedSensorPosition(0, DriveConstants.DRIVE_PID_LOOP_IDX, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.setSelectedSensorPosition(0, DriveConstants.DRIVE_PID_LOOP_IDX, DriveConstants.DRIVE_TIMEOUT_MS);
setDriveTrainGains();
m_leftFrontMotor.setSelectedSensorPosition(0, DriveConstants.PID_PRIMARY, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.setSelectedSensorPosition(0, DriveConstants.PID_PRIMARY, DriveConstants.DRIVE_TIMEOUT_MS);
/* Smart Dashboard Initial Values */
SmartDashboard.putNumber("Pigeon Yaw", getGyroYaw());
@@ -108,8 +90,6 @@ public class Drive extends SubsystemBase {
int closedLoopTimeMs = 1;
m_leftFrontMotor.configClosedLoopPeriod(0, closedLoopTimeMs, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftFrontMotor.configClosedLoopPeriod(1, closedLoopTimeMs, DriveConstants.DRIVE_TIMEOUT_MS);
}
@Override
@@ -153,17 +133,16 @@ public class Drive extends SubsystemBase {
* Add your docs here.
*/
public void setDriveTrainGains(){
m_leftFrontMotor.selectProfileSlot(DriveConstants.DRIVE_SLOT_IDX, DriveConstants.DRIVE_PID_LOOP_IDX);
m_leftFrontMotor.config_kF(DriveConstants.DRIVE_SLOT_IDX, m_gains.kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftFrontMotor.config_kP(DriveConstants.DRIVE_SLOT_IDX, m_gains.kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftFrontMotor.config_kI(DriveConstants.DRIVE_SLOT_IDX, m_gains.kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftFrontMotor.config_kD(DriveConstants.DRIVE_SLOT_IDX, m_gains.kD, DriveConstants.DRIVE_TIMEOUT_MS);
/* Distance */
m_leftFrontMotor.selectProfileSlot(DriveConstants.SLOT_DISTANCE, DriveConstants.PID_PRIMARY);
m_leftFrontMotor.config_kF(DriveConstants.SLOT_DISTANCE, m_gains.kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftFrontMotor.config_kP(DriveConstants.SLOT_DISTANCE, m_gains.kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftFrontMotor.config_kI(DriveConstants.SLOT_DISTANCE, m_gains.kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftFrontMotor.config_kD(DriveConstants.SLOT_DISTANCE, m_gains.kD, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.selectProfileSlot(DriveConstants.DRIVE_SLOT_IDX, DriveConstants.DRIVE_PID_LOOP_IDX);
m_rightFrontMotor.config_kF(DriveConstants.DRIVE_SLOT_IDX, m_gains.kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kP(DriveConstants.DRIVE_SLOT_IDX, m_gains.kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kI(DriveConstants.DRIVE_SLOT_IDX, m_gains.kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kD(DriveConstants.DRIVE_SLOT_IDX, m_gains.kD, DriveConstants.DRIVE_TIMEOUT_MS);
/* Motion Magic */
m_leftFrontMotor.configMotionCruiseVelocity(DriveConstants.DRIVE_CRUISE_VELOCITY, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftFrontMotor.configMotionAcceleration(DriveConstants.DRIVE_ACCELERATION, DriveConstants.DRIVE_TIMEOUT_MS);
}
/**