mirror of
https://github.com/Team4388/RiseOfRidgebotics2020.git
synced 2026-06-09 00:38:00 -06:00
Merge branch 'master' into add-storage
This commit is contained in:
ryan123rudder
@@ -7,6 +7,16 @@
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package frc4388.robot.subsystems;
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import java.io.File;
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import java.io.FilenameFilter;
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import java.io.IOException;
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import java.nio.file.Files;
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import java.nio.file.Path;
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import java.nio.file.Paths;
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import java.util.ArrayList;
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import java.util.List;
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import java.util.stream.Collectors;
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import java.util.stream.Stream;
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import com.ctre.phoenix.motorcontrol.ControlMode;
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import com.ctre.phoenix.motorcontrol.DemandType;
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import com.ctre.phoenix.motorcontrol.FeedbackDevice;
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@@ -18,15 +28,25 @@ import com.ctre.phoenix.motorcontrol.SensorTerm;
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import com.ctre.phoenix.motorcontrol.StatusFrame;
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import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
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import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
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import com.ctre.phoenix.music.Orchestra;
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import com.ctre.phoenix.sensors.PigeonIMU;
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import com.ctre.phoenix.sensors.PigeonIMU_StatusFrame;
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import edu.wpi.first.wpilibj.Filesystem;
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import edu.wpi.first.wpilibj.DoubleSolenoid;
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import edu.wpi.first.wpilibj.drive.DifferentialDrive;
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import edu.wpi.first.wpilibj.geometry.Pose2d;
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import edu.wpi.first.wpilibj.geometry.Rotation2d;
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import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
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import edu.wpi.first.wpilibj.kinematics.DifferentialDriveOdometry;
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import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds;
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import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
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import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
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import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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import edu.wpi.first.wpiutil.math.MathUtil;
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import frc4388.robot.Constants.DriveConstants;
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import frc4388.robot.Gains;
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@@ -42,6 +62,11 @@ public class Drive extends SubsystemBase {
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public WPI_TalonFX m_leftBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_LEFT_BACK_CAN_ID);
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public WPI_TalonFX m_rightBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_RIGHT_BACK_CAN_ID);
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public static PigeonIMU m_pigeon = new PigeonIMU(DriveConstants.PIGEON_ID);
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public Orchestra m_orchestra = new Orchestra();
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public double m_rightFrontMotorPos;
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public double m_rightFrontMotorVel;
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public DifferentialDrive m_driveTrain = new DifferentialDrive(m_leftFrontMotor, m_rightFrontMotor);
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@@ -49,9 +74,19 @@ public class Drive extends SubsystemBase {
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public static Gains m_gainsDistance = DriveConstants.DRIVE_DISTANCE_GAINS;
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public static Gains m_gainsVelocity = DriveConstants.DRIVE_VELOCITY_GAINS;
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public static Gains m_gainsTurning = DriveConstants.DRIVE_TURNING_GAINS;
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public static Gains m_gainsMotionMagic = DriveConstants.DRIVE_MOTION_MAGIC_GAINS;
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//public static Gains m_gainsMotionMagic = DriveConstants.DRIVE_MOTION_MAGIC_GAINS;
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public final DifferentialDriveOdometry m_odometry;
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public DoubleSolenoid m_speedShift;
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public DoubleSolenoid m_coolFalcon;
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public DoubleSolenoid speedShift;
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SendableChooser<String> m_songChooser = new SendableChooser<String>();
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public int m_currentTimeSec = (int)(System.currentTimeMillis() / 1000);
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public long m_lastTime, m_deltaTime; //in milliseconds
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public double m_lastAngleYaw, m_currentAngleYaw, m_kinematicsTargetAngle;
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/**
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* Add your docs here.
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@@ -65,31 +100,40 @@ public class Drive extends SubsystemBase {
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m_pigeon.configFactoryDefault();
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resetGyroYaw();
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speedShift = new DoubleSolenoid(7,0,1);
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m_odometry = new DifferentialDriveOdometry( Rotation2d.fromDegrees(getHeading()),
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new Pose2d(0, 0, new Rotation2d()) );
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m_speedShift = new DoubleSolenoid(7,0,1);
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m_coolFalcon = new DoubleSolenoid(7,3,2);
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coolFalcon(false);
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/* set back motors as followers */
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m_leftBackMotor.follow(m_leftFrontMotor);
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m_rightBackMotor.follow(m_rightFrontMotor);
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/* flip input so forward becomes back, etc */
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m_leftFrontMotor.setInverted(false);
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m_rightFrontMotor.setInverted(true);
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//m_driveTrain.setRightSideInverted(false);
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m_leftBackMotor.setInverted(InvertType.FollowMaster);
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m_rightBackMotor.setInverted(InvertType.FollowMaster);
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setDriveTrainNeutralMode(NeutralMode.Coast);
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/* deadbands */
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m_leftBackMotor.configNeutralDeadband(0.0, DriveConstants.DRIVE_TIMEOUT_MS); // DO NOT CHANGE
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m_rightBackMotor.configNeutralDeadband(0.0, DriveConstants.DRIVE_TIMEOUT_MS); //Ensures motors run at the same speed
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m_rightBackMotor.configNeutralDeadband(0.0, DriveConstants.DRIVE_TIMEOUT_MS); // Ensures motors run at the same speed
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//m_leftFrontMotor.configNeutralDeadband(0.0, DriveConstants.DRIVE_TIMEOUT_MS); // DO NOT CHANGE
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//m_rightFrontMotor.configNeutralDeadband(0.0, DriveConstants.DRIVE_TIMEOUT_MS); // Ensures motors run at the same speed
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/* flip input so forward becomes back, etc */
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m_leftFrontMotor.setInverted(false);
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m_rightFrontMotor.setInverted(true);
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m_driveTrain.setRightSideInverted(false);
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m_leftBackMotor.setInverted(InvertType.FollowMaster);
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m_rightBackMotor.setInverted(InvertType.FollowMaster);
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m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
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m_rightFrontMotor.config_kF(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kP(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kI(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kD(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
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/* PID for Front Motor Control in Teleop */
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//m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
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//m_rightFrontMotor.config_kF(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
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//m_rightFrontMotor.config_kP(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
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//m_rightFrontMotor.config_kI(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
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//m_rightFrontMotor.config_kD(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
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//m_rightFrontMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
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m_rightFrontMotor.config_kF(DriveConstants.SLOT_TURNING, m_gainsTurning.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
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@@ -97,47 +141,65 @@ public class Drive extends SubsystemBase {
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m_rightFrontMotor.config_kI(DriveConstants.SLOT_TURNING, m_gainsTurning.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kD(DriveConstants.SLOT_TURNING, m_gainsTurning.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_TURNING, m_gainsTurning.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_DISTANCE, DriveConstants.PID_PRIMARY);
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m_rightFrontMotor.config_kF(DriveConstants.SLOT_DISTANCE, m_gainsDistance.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kP(DriveConstants.SLOT_DISTANCE, m_gainsDistance.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kI(DriveConstants.SLOT_DISTANCE, m_gainsDistance.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kD(DriveConstants.SLOT_DISTANCE, m_gainsDistance.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_DISTANCE, m_gainsDistance.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configClosedLoopPeakOutput( DriveConstants.SLOT_DISTANCE, m_gainsDistance.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_MOTION_MAGIC, DriveConstants.PID_PRIMARY);
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m_rightFrontMotor.config_kF(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kP(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kI(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kD(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configMotionCruiseVelocity(DriveConstants.DRIVE_CRUISE_VELOCITY, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configMotionAcceleration(DriveConstants.DRIVE_ACCELERATION, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configMotionSCurveStrength(0, DriveConstants.DRIVE_TIMEOUT_MS);
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//m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_MOTION_MAGIC, DriveConstants.PID_PRIMARY);
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//m_rightFrontMotor.config_kF(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
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//m_rightFrontMotor.config_kP(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
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//m_rightFrontMotor.config_kI(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
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//m_rightFrontMotor.config_kD(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
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//m_rightFrontMotor.configClosedLoopPeakOutput( DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
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//m_rightFrontMotor.configMotionCruiseVelocity(DriveConstants.DRIVE_CRUISE_VELOCITY, DriveConstants.DRIVE_TIMEOUT_MS);
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//m_rightFrontMotor.configMotionAcceleration(DriveConstants.DRIVE_ACCELERATION, DriveConstants.DRIVE_TIMEOUT_MS);
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//m_rightFrontMotor.configMotionSCurveStrength(0, DriveConstants.DRIVE_TIMEOUT_MS);
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/* PID for Back Motor control in Auto */
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m_rightBackMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
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m_rightBackMotor.config_kF(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightBackMotor.config_kP(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightBackMotor.config_kI(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightBackMotor.config_kD(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightBackMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
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m_leftBackMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
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m_leftBackMotor.config_kF(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
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m_leftBackMotor.config_kP(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
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m_leftBackMotor.config_kI(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
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m_leftBackMotor.config_kD(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
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m_leftBackMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
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/* Setup Sensors for WPI_TalonFXs */
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m_leftFrontMotor.setSelectedSensorPosition(0, DriveConstants.PID_PRIMARY, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.setSelectedSensorPosition(0, DriveConstants.PID_PRIMARY, DriveConstants.DRIVE_TIMEOUT_MS);
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resetEncoders();
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/* Configure the left Talon's selected sensor as local QuadEncoder */
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m_leftFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.IntegratedSensor, // Local Feedback Source
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DriveConstants.PID_PRIMARY, // PID Index for Source [0, 1]
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DriveConstants.DRIVE_TIMEOUT_MS); // Configuration Timeout
|
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|
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/*m_rightFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.IntegratedSensor, // Local Feedback Source
|
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DriveConstants.PID_PRIMARY, // PID Index for Source [0, 1]
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DriveConstants.DRIVE_TIMEOUT_MS);*/ // Configuration Timeout
|
||||
m_leftFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.IntegratedSensor, // Local Feedback Source
|
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DriveConstants.PID_PRIMARY, // PID Index for Source [0, 1]
|
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DriveConstants.DRIVE_TIMEOUT_MS); // Configuration Timeout
|
||||
|
||||
/* Configure the left back Talon's selected sensor as local QuadEncoder */
|
||||
m_leftBackMotor.configSelectedFeedbackSensor( FeedbackDevice.IntegratedSensor, // Local Feedback Source
|
||||
DriveConstants.PID_PRIMARY, // PID Index for Source [0, 1]
|
||||
DriveConstants.DRIVE_TIMEOUT_MS); // Configuration Timeout
|
||||
|
||||
/* Configure the right back Talon's selected sensor as local QuadEncoder */
|
||||
m_rightBackMotor.configSelectedFeedbackSensor( FeedbackDevice.IntegratedSensor, // Local Feedback Source
|
||||
DriveConstants.PID_PRIMARY, // PID Index for Source [0, 1]
|
||||
DriveConstants.DRIVE_TIMEOUT_MS); // Configuration Timeout
|
||||
|
||||
/* Configure the Remote Talon's selected sensor as a remote sensor for the right Talon */
|
||||
m_rightFrontMotor.configRemoteFeedbackFilter( m_leftFrontMotor.getDeviceID(), // Device ID of Source
|
||||
RemoteSensorSource.TalonSRX_SelectedSensor,
|
||||
DriveConstants.REMOTE_0, // Source number [0, 1]
|
||||
DriveConstants.DRIVE_TIMEOUT_MS); // Configuration Timeout
|
||||
m_rightFrontMotor.configRemoteFeedbackFilter( m_leftFrontMotor.getDeviceID(), // Device ID of Source
|
||||
RemoteSensorSource.TalonSRX_SelectedSensor, DriveConstants.REMOTE_0, // Source number [0, 1]
|
||||
DriveConstants.DRIVE_TIMEOUT_MS); // Configuration Timeout
|
||||
|
||||
/* Configure the Pigeon IMU to the other Remote Slot available on the right Talon */
|
||||
m_rightFrontMotor.configRemoteFeedbackFilter( m_pigeon.getDeviceID(),
|
||||
RemoteSensorSource.Pigeon_Yaw,
|
||||
DriveConstants.REMOTE_1,
|
||||
DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_rightFrontMotor.configRemoteFeedbackFilter( m_pigeon.getDeviceID(), RemoteSensorSource.Pigeon_Yaw,
|
||||
DriveConstants.REMOTE_1, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
|
||||
/* Setup Sum signal to be used for Distance */
|
||||
m_rightFrontMotor.configSensorTerm(SensorTerm.Sum0, FeedbackDevice.RemoteSensor0, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
@@ -148,130 +210,170 @@ public class Drive extends SubsystemBase {
|
||||
m_rightFrontMotor.configSensorTerm(SensorTerm.Diff0, FeedbackDevice.IntegratedSensor, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
|
||||
/* Configure Sum [Sum of both QuadEncoders] to be used for Primary PID Index */
|
||||
m_rightFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.SensorDifference,
|
||||
DriveConstants.PID_PRIMARY,
|
||||
DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
|
||||
/* Don't scale the Feedback Sensor (use 1 for 1:1 ratio) */
|
||||
m_rightFrontMotor.configSelectedFeedbackCoefficient( 1, // Coefficient
|
||||
DriveConstants.PID_PRIMARY, // PID Slot of Source
|
||||
DriveConstants.DRIVE_TIMEOUT_MS); // Configuration Timeout
|
||||
configMotorSensor(FeedbackDevice.SensorDifference);
|
||||
|
||||
m_rightFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.RemoteSensor1,
|
||||
/* Don't scale the Feedback Sensor (use 1 for 1:1 ratio) DOESN'T WORK */
|
||||
/*
|
||||
m_rightFrontMotor.configSelectedFeedbackCoefficient( 1, // Coefficient
|
||||
DriveConstants.PID_PRIMARY, // PID Slot of Source
|
||||
DriveConstants.DRIVE_TIMEOUT_MS); // Configuration Timeout
|
||||
*/
|
||||
|
||||
m_rightFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.RemoteSensor1,
|
||||
DriveConstants.PID_TURN,
|
||||
DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
|
||||
/* Don't scale the Feedback Sensor (use 1 for 1:1 ratio) */
|
||||
m_rightFrontMotor.configSelectedFeedbackCoefficient( 1,
|
||||
DriveConstants.PID_TURN,
|
||||
DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
/* Don't scale the Feedback Sensor (use 1 for 1:1 ratio) DOESN'T WORK */
|
||||
//m_rightFrontMotor.configSelectedFeedbackCoefficient(1, DriveConstants.PID_TURN, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
|
||||
/* Don't scale the Feedback Sensor (use 1 for 1:1 ratio) */
|
||||
m_leftFrontMotor.configSelectedFeedbackCoefficient( 1,
|
||||
DriveConstants.PID_PRIMARY,
|
||||
DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
|
||||
/* Set status frame periods to ensure we don't have stale data */
|
||||
m_rightFrontMotor.setStatusFramePeriod(StatusFrame.Status_12_Feedback1, 20, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_rightFrontMotor.setStatusFramePeriod(StatusFrame.Status_13_Base_PIDF0, 20, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_rightFrontMotor.setStatusFramePeriod(StatusFrame.Status_14_Turn_PIDF1, 20, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
/* Don't scale the Feedback Sensor (use 1 for 1:1 ratio) DOESN'T WORK */
|
||||
//m_leftFrontMotor.configSelectedFeedbackCoefficient(1, DriveConstants.PID_PRIMARY, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
|
||||
/* Set status frame periods to ensure we don't have stale data */
|
||||
m_rightFrontMotor.setStatusFramePeriod(StatusFrame.Status_12_Feedback1, 20, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_rightFrontMotor.setStatusFramePeriod(StatusFrame.Status_13_Base_PIDF0, 20, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_rightFrontMotor.setStatusFramePeriod(StatusFrame.Status_14_Turn_PIDF1, 20, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_leftFrontMotor.setStatusFramePeriod(StatusFrame.Status_2_Feedback0, 5, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_pigeon.setStatusFramePeriod(PigeonIMU_StatusFrame.CondStatus_9_SixDeg_YPR, 5, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
|
||||
/* Smart Dashboard Initial Values */
|
||||
|
||||
/* Set up Chooser */
|
||||
m_chooser.setDefaultOption("Distance PID", m_gainsDistance);
|
||||
//setDriveTrainGains("Distance PID", m_gainsDistance);
|
||||
m_chooser.addOption("Velocity PID", m_gainsVelocity);
|
||||
//setDriveTrainGains("Velocity PID", m_gainsVelocity);
|
||||
m_chooser.addOption("Turning PID", m_gainsTurning);
|
||||
//setDriveTrainGains("Turning PID", m_gainsTurning);
|
||||
m_chooser.addOption("Motion Magic PID", m_gainsMotionMagic);
|
||||
//setDriveTrainGains("Motion Magic PID", m_gainsMotionMagic);
|
||||
Shuffleboard.getTab("PID").add(m_chooser);
|
||||
|
||||
/* Gyro */
|
||||
SmartDashboard.putNumber("Pigeon Yaw", getGyroYaw());
|
||||
SmartDashboard.putNumber("Pigeon Pitch", getGyroPitch());
|
||||
SmartDashboard.putNumber("Pigeon Roll", getGyroRoll());
|
||||
|
||||
/* Sensor Values */
|
||||
SmartDashboard.putNumber("Left Motor Velocity Raw", m_leftFrontMotor.getSelectedSensorVelocity(0));
|
||||
SmartDashboard.putNumber("Right Motor Velocity Raw", m_rightFrontMotor.getSelectedSensorVelocity());
|
||||
SmartDashboard.putNumber("Left Motor Position Raw", m_leftFrontMotor.getSelectedSensorPosition(0));
|
||||
SmartDashboard.putNumber("Right Motor Position Raw", m_rightFrontMotor.getSelectedSensorPosition());
|
||||
|
||||
/* PID */
|
||||
Gains gains = m_chooser.getSelected();
|
||||
Shuffleboard.getTab("PID").add("P Value Drive", gains.m_kP);
|
||||
Shuffleboard.getTab("PID").add("I Value Drive", gains.m_kI);
|
||||
Shuffleboard.getTab("PID").add("D Value Drive", gains.m_kD);
|
||||
Shuffleboard.getTab("PID").add("F Value Drive", gains.m_kF);
|
||||
|
||||
|
||||
/**
|
||||
* Max out the peak output (for all modes).
|
||||
* However you can limit the output of a given PID object with configClosedLoopPeakOutput().
|
||||
*/
|
||||
m_leftFrontMotor.configPeakOutputForward(+1, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_leftFrontMotor.configPeakOutputReverse(-1, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_rightFrontMotor.configPeakOutputForward(+1, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_rightFrontMotor.configPeakOutputReverse(-1, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_leftBackMotor.setStatusFramePeriod(StatusFrame.Status_13_Base_PIDF0, 20, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_rightBackMotor.setStatusFramePeriod(StatusFrame.Status_13_Base_PIDF0, 20, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
|
||||
/**
|
||||
* 1ms per loop. PID loop can be slowed down if need be.
|
||||
* For example,
|
||||
* - if sensor updates are too slow
|
||||
* - sensor deltas are very small per update, so derivative error never gets large enough to be useful.
|
||||
* - sensor movement is very slow causing the derivative error to be near zero.
|
||||
*/
|
||||
* Max out the peak output (for all modes). However you can limit the output of
|
||||
* a given PID object with configClosedLoopPeakOutput().
|
||||
*/
|
||||
m_leftFrontMotor.configPeakOutputForward(+1, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_leftFrontMotor.configPeakOutputReverse(-1, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_rightFrontMotor.configPeakOutputForward(+1, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_rightFrontMotor.configPeakOutputReverse(-1, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
|
||||
m_leftBackMotor.configPeakOutputForward(+1, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_leftBackMotor.configPeakOutputReverse(-1, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_rightBackMotor.configPeakOutputForward(+1, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_rightBackMotor.configPeakOutputReverse(-1, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
|
||||
/**
|
||||
* 1ms per loop. PID loop can be slowed down if need be. For example, - if
|
||||
* sensor updates are too slow - sensor deltas are very small per update, so
|
||||
* derivative error never gets large enough to be useful. - sensor movement is
|
||||
* very slow causing the derivative error to be near zero.
|
||||
*/
|
||||
int closedLoopTimeMs = 1;
|
||||
m_rightFrontMotor.configClosedLoopPeriod(DriveConstants.PID_PRIMARY, closedLoopTimeMs, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_rightFrontMotor.configClosedLoopPeriod(DriveConstants.PID_TURN, closedLoopTimeMs, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
/**
|
||||
* configAuxPIDPolarity(boolean invert, int timeoutMs)
|
||||
* false means talon's local output is PID0 + PID1, and other side Talon is PID0 - PID1
|
||||
* true means talon's local output is PID0 - PID1, and other side Talon is PID0 + PID1
|
||||
*/
|
||||
m_rightFrontMotor.configAuxPIDPolarity(false, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
}
|
||||
m_rightFrontMotor.configClosedLoopPeriod( DriveConstants.PID_PRIMARY,
|
||||
closedLoopTimeMs,
|
||||
DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
|
||||
m_rightFrontMotor.configClosedLoopPeriod( DriveConstants.PID_TURN,
|
||||
closedLoopTimeMs,
|
||||
DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
|
||||
m_leftBackMotor.configClosedLoopPeriod( DriveConstants.PID_PRIMARY,
|
||||
closedLoopTimeMs,
|
||||
DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
|
||||
m_leftBackMotor.configClosedLoopPeriod( DriveConstants.PID_PRIMARY,
|
||||
closedLoopTimeMs,
|
||||
DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
|
||||
/**
|
||||
* configAuxPIDPolarity(boolean invert, int timeoutMs) false means talon's local
|
||||
* output is PID0 + PID1, and other side Talon is PID0 - PID1 true means talon's
|
||||
* local output is PID0 - PID1, and other side Talon is PID0 + PID1
|
||||
*/
|
||||
m_rightFrontMotor.configAuxPIDPolarity(false, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
|
||||
m_lastTime = System.currentTimeMillis();
|
||||
|
||||
m_orchestra.addInstrument(m_leftBackMotor);
|
||||
m_orchestra.addInstrument(m_rightFrontMotor);
|
||||
m_orchestra.addInstrument(m_rightBackMotor);
|
||||
m_orchestra.addInstrument(m_leftFrontMotor);
|
||||
|
||||
File songsDir = new File(Filesystem.getDeployDirectory().getAbsolutePath() + "/songs");
|
||||
System.err.println(songsDir.getPath());
|
||||
String[] songsStrings = songsDir.list();
|
||||
for (String songString : songsStrings){
|
||||
m_songChooser.addOption(songString, songsDir.getAbsolutePath() + "/" + songString);
|
||||
}
|
||||
Shuffleboard.getTab("Songs").add(m_songChooser);
|
||||
}
|
||||
|
||||
String currentSong = "";
|
||||
@Override
|
||||
public void periodic() {
|
||||
m_currentTimeSec = (int)(System.currentTimeMillis() / 1000);
|
||||
SmartDashboard.putNumber("Time Seconds", System.currentTimeMillis());
|
||||
|
||||
if (m_currentTimeSec % 30 == 0) {
|
||||
coolFalcon(true);
|
||||
SmartDashboard.putBoolean("Solenoid", true);
|
||||
} else if ((m_currentTimeSec - 1) % 30 == 0) {
|
||||
coolFalcon(false);
|
||||
SmartDashboard.putBoolean("Solenoid", false);
|
||||
}
|
||||
|
||||
m_deltaTime = System.currentTimeMillis() - m_lastTime;
|
||||
m_lastTime = System.currentTimeMillis();
|
||||
m_lastAngleYaw = m_currentAngleYaw;
|
||||
m_currentAngleYaw = getGyroYaw();
|
||||
|
||||
m_rightFrontMotorPos = m_rightFrontMotor.getSelectedSensorPosition();
|
||||
m_rightFrontMotorVel = m_rightFrontMotor.getSelectedSensorVelocity();
|
||||
|
||||
try {
|
||||
SmartDashboard.putNumber("Pigeon Yaw", getGyroYaw());
|
||||
SmartDashboard.putNumber("Pigeon Pitch", getGyroPitch());
|
||||
SmartDashboard.putNumber("Pigeon Roll", getGyroRoll());
|
||||
|
||||
SmartDashboard.putNumber("Left Motor Velocity Raw", m_leftFrontMotor.getSelectedSensorVelocity(0));
|
||||
SmartDashboard.putNumber("Right Motor Velocity Raw", m_rightFrontMotor.getSelectedSensorVelocity());
|
||||
SmartDashboard.putNumber("Left Motor Position Raw", m_leftFrontMotor.getSelectedSensorPosition());
|
||||
SmartDashboard.putNumber("Right Motor Position Raw", m_rightFrontMotor.getSelectedSensorPosition(0));
|
||||
//SmartDashboard.putNumber("Pigeon Pitch", getGyroPitch());
|
||||
//SmartDashboard.putNumber("Pigeon Roll", getGyroRoll());
|
||||
SmartDashboard.putNumber("Left Back Output", m_leftBackMotor.get());
|
||||
SmartDashboard.putNumber("Right Back Output", m_rightBackMotor.get());
|
||||
|
||||
SmartDashboard.putNumber("Left Back Motor Velocity Raw", m_leftBackMotor.getSelectedSensorVelocity());
|
||||
SmartDashboard.putNumber("Right Back Motor Velocity Raw", m_rightBackMotor.getSelectedSensorVelocity());
|
||||
//SmartDashboard.putNumber("Left Motor Position Raw", m_leftFrontMotor.getSelectedSensorPosition());
|
||||
//SmartDashboard.putNumber("Right Motor Position Raw", m_rightFrontMotor.getSelectedSensorPosition(0));
|
||||
SmartDashboard.putNumber("Right Motor Velocity Int Sensor", m_rightFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
|
||||
SmartDashboard.putNumber("Left Motor Velocity Int Sensor", m_leftFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
|
||||
|
||||
SmartDashboard.putNumber("Right Front Motor Current", m_rightFrontMotor.getSupplyCurrent());
|
||||
SmartDashboard.putNumber("Left Front Motor Current", m_leftFrontMotor.getSupplyCurrent());
|
||||
SmartDashboard.putNumber("Right Back Motor Current", m_rightFrontMotor.getSupplyCurrent());
|
||||
SmartDashboard.putNumber("Left Back Motor Current", m_leftFrontMotor.getSupplyCurrent());
|
||||
SmartDashboard.putNumber("Right Motor Temp", m_rightFrontMotor.getTemperature());
|
||||
SmartDashboard.putNumber("Left Motor Temp", m_leftFrontMotor.getTemperature());
|
||||
|
||||
SmartDashboard.putNumber("PID 0 Error", m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_PRIMARY));
|
||||
SmartDashboard.putNumber("PID 1 Error", m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_TURN));
|
||||
SmartDashboard.putNumber("PID 0 Target", m_rightFrontMotor.getClosedLoopTarget(DriveConstants.PID_PRIMARY));
|
||||
SmartDashboard.putNumber("PID 1 Target", m_rightFrontMotor.getClosedLoopTarget(DriveConstants.PID_TURN));
|
||||
SmartDashboard.putNumber("PID 0 Pos", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_PRIMARY));
|
||||
SmartDashboard.putNumber("PID 1 Pos", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN));
|
||||
//SmartDashboard.putNumber("Right Front Motor Current Supply", m_rightFrontMotor.getSupplyCurrent());
|
||||
//SmartDashboard.putNumber("Left Front Motor Current Supply", m_leftFrontMotor.getSupplyCurrent());
|
||||
//SmartDashboard.putNumber("Right Front Motor Current Stator ", m_rightFrontMotor.getStatorCurrent());
|
||||
//SmartDashboard.putNumber("Left Front Motor Current Stator", m_leftFrontMotor.getSupplyCurrent());
|
||||
|
||||
//SmartDashboard.putNumber("PID 0 Error", m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_PRIMARY));
|
||||
//SmartDashboard.putNumber("PID 1 Error", m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_TURN));
|
||||
//SmartDashboard.putNumber("PID 0 Target", m_rightFrontMotor.getClosedLoopTarget(DriveConstants.PID_PRIMARY));
|
||||
//SmartDashboard.putNumber("PID 1 Target", m_rightFrontMotor.getClosedLoopTarget(DriveConstants.PID_TURN));
|
||||
//SmartDashboard.putNumber("PID 0 Pos", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_PRIMARY));
|
||||
//SmartDashboard.putNumber("PID 1 Pos", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN));
|
||||
|
||||
SmartDashboard.putString("Odometry Values Meters", getPose().toString());
|
||||
SmartDashboard.putNumber("Odometry Heading", getHeading());
|
||||
|
||||
SmartDashboard.putNumber("Time Seconds", m_currentTimeSec);
|
||||
//SmartDashboard.putNumber("Delta Time", m_deltaTime);
|
||||
|
||||
if (currentSong != m_songChooser.getSelected()){
|
||||
currentSong = m_songChooser.getSelected();
|
||||
selectSong(currentSong);
|
||||
System.err.println(currentSong);
|
||||
}
|
||||
} catch (Exception e) {
|
||||
System.err.println("Error in the Drive Subsystem");
|
||||
//e.printStackTrace(System.err);
|
||||
// e.printStackTrace(System.err);
|
||||
}
|
||||
|
||||
m_odometry.update(Rotation2d.fromDegrees( getHeading()),
|
||||
inchesToMeters(getDistanceInches(m_leftBackMotor)),
|
||||
-inchesToMeters(getDistanceInches(m_rightBackMotor)));
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets Motors to a NeutralMode.
|
||||
*
|
||||
* @param mode NeutralMode to set motors to
|
||||
*/
|
||||
public void setDriveTrainNeutralMode(NeutralMode mode) {
|
||||
@@ -282,120 +384,142 @@ public class Drive extends SubsystemBase {
|
||||
}
|
||||
|
||||
/**
|
||||
* Initializes the drive train gains kP, kI, kD, and kF
|
||||
* @param slot Either "Distance PID", "Velocity PID", "Motion Magic PID", or "Turning PID"
|
||||
* @param gains A gains object which is the gains that are set for the slot
|
||||
* Runs percent output control on the moving and steering of the drive train,
|
||||
* using the Differential Drive class to manage the two inputs
|
||||
*/
|
||||
public void setDriveTrainGains(String slot, Gains gains){
|
||||
/* Distance */
|
||||
if (slot.equals("Distance PID")) {
|
||||
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_DISTANCE, DriveConstants.PID_PRIMARY);
|
||||
m_rightFrontMotor.config_kF(DriveConstants.SLOT_DISTANCE, gains.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_rightFrontMotor.config_kP(DriveConstants.SLOT_DISTANCE, gains.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_rightFrontMotor.config_kI(DriveConstants.SLOT_DISTANCE, gains.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_rightFrontMotor.config_kD(DriveConstants.SLOT_DISTANCE, gains.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
}
|
||||
|
||||
/* Velocity */
|
||||
if (slot.equals("Velocity PID")) {
|
||||
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
|
||||
m_rightFrontMotor.config_kF(DriveConstants.SLOT_VELOCITY, gains.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_rightFrontMotor.config_kP(DriveConstants.SLOT_VELOCITY, gains.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_rightFrontMotor.config_kI(DriveConstants.SLOT_VELOCITY, gains.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_rightFrontMotor.config_kD(DriveConstants.SLOT_VELOCITY, gains.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_rightFrontMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_VELOCITY, gains.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
}
|
||||
/* Turning */
|
||||
if (slot.equals("Turning PID")) {
|
||||
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
|
||||
m_rightFrontMotor.config_kF(DriveConstants.SLOT_TURNING, gains.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_rightFrontMotor.config_kP(DriveConstants.SLOT_TURNING, gains.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_rightFrontMotor.config_kI(DriveConstants.SLOT_TURNING, gains.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_rightFrontMotor.config_kD(DriveConstants.SLOT_TURNING, gains.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_rightFrontMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_TURNING, gains.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
}
|
||||
|
||||
/* Motion Magic */
|
||||
if (slot.equals("Motion Magic PID")) {
|
||||
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_MOTION_MAGIC, DriveConstants.PID_PRIMARY);
|
||||
m_rightFrontMotor.config_kF(DriveConstants.SLOT_MOTION_MAGIC, gains.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_rightFrontMotor.config_kP(DriveConstants.SLOT_MOTION_MAGIC, gains.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_rightFrontMotor.config_kI(DriveConstants.SLOT_MOTION_MAGIC, gains.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_rightFrontMotor.config_kD(DriveConstants.SLOT_MOTION_MAGIC, gains.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
|
||||
m_rightFrontMotor.configMotionCruiseVelocity(DriveConstants.DRIVE_CRUISE_VELOCITY, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_rightFrontMotor.configMotionAcceleration(DriveConstants.DRIVE_ACCELERATION, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
}
|
||||
public void driveWithInput(double move, double steer) {
|
||||
m_driveTrain.arcadeDrive(move, steer);
|
||||
m_leftBackMotor.follow(m_leftFrontMotor);
|
||||
m_rightBackMotor.follow(m_rightFrontMotor);
|
||||
}
|
||||
|
||||
/**
|
||||
* Add your docs here.
|
||||
* Runs percent output control on the drive train while using an AUX PID for rotation
|
||||
* @param targetPos The position to drive to in units
|
||||
* @param targetGyro The angle to drive at in units
|
||||
*/
|
||||
public void driveWithInput(double move, double steer){
|
||||
m_driveTrain.arcadeDrive(move, steer);
|
||||
}
|
||||
|
||||
public void driveWithInputAux(double move, double targetGyro) {
|
||||
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
|
||||
|
||||
m_rightFrontMotor.set(TalonFXControlMode.PercentOutput, move, DemandType.AuxPID, targetGyro);
|
||||
m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
|
||||
m_leftBackMotor.follow(m_leftFrontMotor);
|
||||
m_rightBackMotor.follow(m_rightFrontMotor);
|
||||
|
||||
m_driveTrain.feedWatchdog();
|
||||
}
|
||||
|
||||
/**
|
||||
* Runs a position PID while driving straight
|
||||
* @param targetPos The position to drive to in units
|
||||
* Runs position PID.
|
||||
* Position is absolute and displacement should be handled on the command side.
|
||||
* @param targetPos The position to drive to in units
|
||||
* @param targetGyro The angle to drive at in units
|
||||
*/
|
||||
public void runDriveStraightPositionPID(double targetPos, double targetGyro) {
|
||||
public void runDrivePositionPID(double targetPos, double targetGyro) {
|
||||
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_DISTANCE, DriveConstants.PID_PRIMARY);
|
||||
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
|
||||
|
||||
m_rightFrontMotor.set(TalonFXControlMode.Position, targetPos, DemandType.AuxPID, targetGyro);
|
||||
m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
|
||||
m_leftBackMotor.follow(m_leftFrontMotor);
|
||||
m_rightBackMotor.follow(m_rightFrontMotor);
|
||||
|
||||
m_driveTrain.feedWatchdog();
|
||||
//m_driveTrain.feedWatchdog();
|
||||
}
|
||||
|
||||
/**
|
||||
* Runs velocity PID while driving straight
|
||||
* @param targetVel The velocity to drive at in units
|
||||
* Runs velocity PID
|
||||
*
|
||||
* @param targetVel The velocity to drive at in units
|
||||
* @param targetGyro The angle to drive at in units
|
||||
*/
|
||||
public void runDriveStraightVelocityPID(double targetVel, double targetGyro) {
|
||||
public void runDriveVelocityPID(double targetVel, double targetGyro) {
|
||||
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
|
||||
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
|
||||
|
||||
m_rightFrontMotor.set(TalonFXControlMode.Velocity, targetVel, DemandType.AuxPID, targetGyro);
|
||||
m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
|
||||
m_leftBackMotor.follow(m_leftFrontMotor);
|
||||
m_rightBackMotor.follow(m_rightFrontMotor);
|
||||
|
||||
m_driveTrain.feedWatchdog();
|
||||
//m_driveTrain.feedWatchdog();
|
||||
}
|
||||
|
||||
/**
|
||||
* Runs motion magic PID while driving straight (has not been tested)
|
||||
* Runs motion magic PID while driving straight
|
||||
* @param targetPos The position to drive to in units
|
||||
* @param targetGyro The angle to drive at in units
|
||||
*/
|
||||
public void runMotionMagicPID(double targetPos, double targetGyro){
|
||||
public void runMotionMagicPID(double targetPos, double targetGyro) {
|
||||
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_MOTION_MAGIC, DriveConstants.PID_PRIMARY);
|
||||
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
|
||||
|
||||
m_rightFrontMotor.set(ControlMode.MotionMagic, targetPos, DemandType.AuxPID, targetGyro);
|
||||
m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
|
||||
m_leftBackMotor.follow(m_leftFrontMotor);
|
||||
m_rightBackMotor.follow(m_rightFrontMotor);
|
||||
|
||||
m_driveTrain.feedWatchdog();
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* Runs a Turning PID to rotate a to a target angle
|
||||
*
|
||||
* @param targetAngle target angle in degrees
|
||||
*/
|
||||
public void runTurningPID(double targetAngle) {
|
||||
double targetGyro = (targetAngle / 360) * DriveConstants.TICKS_PER_GYRO_REV;
|
||||
|
||||
runDriveVelocityPID(0, targetGyro);
|
||||
}
|
||||
|
||||
/**
|
||||
* Controls the left and right sides of the drive with velocity targets.
|
||||
*
|
||||
* @param leftSpeed the commanded left speed
|
||||
* @param rightSpeed the commanded right speed
|
||||
*/
|
||||
public void tankDriveVelocity(double leftSpeed, double rightSpeed) {
|
||||
//DifferentialDriveWheelSpeeds wheelSpeeds = new DifferentialDriveWheelSpeeds(leftSpeed, rightSpeed);
|
||||
//ChassisSpeeds chassisSpeeds = DriveConstants.kDriveKinematics.toChassisSpeeds(wheelSpeeds);
|
||||
//double moveVelMPS = chassisSpeeds.vxMetersPerSecond;
|
||||
//double angleVelRad = chassisSpeeds.omegaRadiansPerSecond;
|
||||
//double angleVelDeg = Math.toDegrees(angleVelRad);
|
||||
|
||||
//m_kinematicsTargetAngle += angleVelDeg * (m_deltaTime/1000);
|
||||
//m_kinematicsTargetAngle = MathUtil.clamp( m_kinematicsTargetAngle,
|
||||
// m_currentAngleYaw-(360),
|
||||
// m_currentAngleYaw+(360));
|
||||
//double targetGyro = (m_kinematicsTargetAngle / 360) * DriveConstants.TICKS_PER_GYRO_REV;
|
||||
double moveVelLeft = inchesToTicks(metersToInches(leftSpeed))/DriveConstants.SECONDS_TO_TICK_TIME;
|
||||
double moveVelRight = inchesToTicks(metersToInches(rightSpeed))/DriveConstants.SECONDS_TO_TICK_TIME;
|
||||
|
||||
//SmartDashboard.putNumber("Move Vel Left", moveVelLeft);
|
||||
//SmartDashboard.putNumber("Move Vel Right", moveVelRight);
|
||||
|
||||
//runDriveVelocityPID(moveVel*2, targetGyro);
|
||||
|
||||
m_rightBackMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
|
||||
m_leftBackMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
|
||||
|
||||
System.err.println(moveVelLeft);
|
||||
|
||||
m_rightBackMotor.set(TalonFXControlMode.Velocity, moveVelRight);
|
||||
m_leftBackMotor.set(TalonFXControlMode.Velocity, moveVelLeft);
|
||||
m_leftFrontMotor.follow(m_leftBackMotor);
|
||||
m_rightFrontMotor.follow(m_rightBackMotor);
|
||||
|
||||
m_driveTrain.feedWatchdog();
|
||||
}
|
||||
|
||||
/**
|
||||
* Runs a Turning PID to rotate a to a target angle
|
||||
* @param targetAngle target angle in degrees
|
||||
* Selects the feedback device for the motors.
|
||||
* @param feedbackDevice The feedback device to set it to, usually SensorDifference or
|
||||
*/
|
||||
public void runTurningPID(double targetAngle){
|
||||
double targetGyro = (targetAngle/360)*DriveConstants.TICKS_PER_GYRO_REV;
|
||||
|
||||
runDriveStraightVelocityPID(0, targetGyro);
|
||||
public void configMotorSensor(FeedbackDevice type) {
|
||||
m_rightFrontMotor.configSelectedFeedbackSensor( type, DriveConstants.PID_PRIMARY,
|
||||
DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -404,17 +528,17 @@ public class Drive extends SubsystemBase {
|
||||
public double getGyroYaw() {
|
||||
|
||||
double[] ypr = new double[3];
|
||||
|
||||
|
||||
m_pigeon.getYawPitchRoll(ypr);
|
||||
return ypr[0];
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Returns the current pitch of the pigeon
|
||||
*/
|
||||
public double getGyroPitch() {
|
||||
double[] ypr = new double[3];
|
||||
|
||||
|
||||
m_pigeon.getYawPitchRoll(ypr);
|
||||
return ypr[1];
|
||||
}
|
||||
@@ -424,7 +548,7 @@ public class Drive extends SubsystemBase {
|
||||
*/
|
||||
public double getGyroRoll() {
|
||||
double[] ypr = new double[3];
|
||||
|
||||
|
||||
m_pigeon.getYawPitchRoll(ypr);
|
||||
return ypr[2];
|
||||
}
|
||||
@@ -435,18 +559,170 @@ public class Drive extends SubsystemBase {
|
||||
public void resetGyroYaw() {
|
||||
m_pigeon.setYaw(0);
|
||||
m_pigeon.setAccumZAngle(0);
|
||||
resetGyroAngles();
|
||||
}
|
||||
|
||||
/**
|
||||
* Add docs here
|
||||
*/
|
||||
public void resetGyroAngles() {
|
||||
m_lastAngleYaw = 0;
|
||||
m_currentAngleYaw = 0;
|
||||
m_kinematicsTargetAngle = 0;
|
||||
}
|
||||
//lol
|
||||
//sko
|
||||
//ridge
|
||||
/**
|
||||
//brayden=bad coder
|
||||
* Returns the heading of the robot
|
||||
* @return The robot's heading in degrees, from -180 to 180
|
||||
*/
|
||||
public double getHeading() {
|
||||
return Math.IEEEremainder(getGyroYaw(), 360);
|
||||
}
|
||||
|
||||
/**
|
||||
* Returns the turn rate of the robot.
|
||||
*
|
||||
* @return The turn rate of the robot, in degrees per second
|
||||
*/
|
||||
public double getTurnRate() {
|
||||
double deltaYaw = m_currentAngleYaw - m_lastAngleYaw;
|
||||
double turnRate = 1000 * deltaYaw / m_deltaTime;
|
||||
return turnRate;
|
||||
}
|
||||
|
||||
/**
|
||||
* Returns the currently-estimated pose of the robot.
|
||||
* @return The pose.
|
||||
*/
|
||||
public Pose2d getPose() {
|
||||
return m_odometry.getPoseMeters();
|
||||
}
|
||||
|
||||
/**
|
||||
* Returns current wheel speeds of robot.
|
||||
* @return The current wheel speeds.
|
||||
*/
|
||||
public DifferentialDriveWheelSpeeds getWheelSpeeds() {
|
||||
return new DifferentialDriveWheelSpeeds( inchesToMeters(getVelocityInchesPerSecond(m_leftBackMotor)),
|
||||
-inchesToMeters(getVelocityInchesPerSecond(m_rightBackMotor)));
|
||||
}
|
||||
|
||||
/**
|
||||
* Resets the encoders for both motors.
|
||||
*/
|
||||
public void resetEncoders() {
|
||||
m_leftFrontMotor.getSensorCollection().setIntegratedSensorPosition(0, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_rightFrontMotor.getSensorCollection().setIntegratedSensorPosition(0, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_leftBackMotor.getSensorCollection().setIntegratedSensorPosition(0, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
m_rightBackMotor.getSensorCollection().setIntegratedSensorPosition(0, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
}
|
||||
|
||||
/**
|
||||
* Resets the odometry to the specified pose.
|
||||
*
|
||||
* @param pose The pose to which to set the odometry.
|
||||
*/
|
||||
public void setOdometry(Pose2d pose) {
|
||||
resetEncoders();
|
||||
m_odometry.resetPosition(pose, Rotation2d.fromDegrees(getHeading()));
|
||||
}
|
||||
|
||||
/**
|
||||
* Gets the encoder value (position) of a motor
|
||||
* @param falcon The motor to get the position of
|
||||
* @return The position of the motor in inches
|
||||
*/
|
||||
public double getDistanceInches(WPI_TalonFX falcon) {
|
||||
return ticksToInches(falcon.getSensorCollection().getIntegratedSensorPosition());
|
||||
}
|
||||
|
||||
/**
|
||||
* Gets the encoder value (velocity) of a motor
|
||||
* @param falcon The motor to get the velocity of
|
||||
* @return The velocity of the motor in inches per second
|
||||
*/
|
||||
public double getVelocityInchesPerSecond(WPI_TalonFX falcon) {
|
||||
return ticksToInches(falcon.getSensorCollection().getIntegratedSensorPosition()/DriveConstants.TICK_TIME_TO_SECONDS);
|
||||
}
|
||||
|
||||
/**
|
||||
* Converts a value in ticks to inches.
|
||||
* @param ticks The value in ticks to convert
|
||||
* @return The converted value in inches
|
||||
*/
|
||||
public double ticksToInches(double ticks) {
|
||||
return ticks * DriveConstants.INCHES_PER_TICK;
|
||||
}
|
||||
|
||||
/**
|
||||
* Converts a value in inches to ticks.
|
||||
* @param inches The value in inches to convert
|
||||
* @return The converted value in ticks
|
||||
*/
|
||||
public double inchesToTicks(double inches) {
|
||||
return inches * DriveConstants.TICKS_PER_INCH;
|
||||
}
|
||||
|
||||
/**
|
||||
* Converts a value in inches to meters.
|
||||
* @param inches The value in inches to convert
|
||||
* @return The converted value in meters
|
||||
*/
|
||||
public double inchesToMeters(double inches) {
|
||||
return inches * DriveConstants.METERS_PER_INCH;
|
||||
}
|
||||
|
||||
/**
|
||||
* Converts a value in meters to inches.
|
||||
* @param meters The value in meters to convert
|
||||
* @return The converted value in inches
|
||||
*/
|
||||
public double metersToInches(double meters) {
|
||||
return meters * DriveConstants.INCHES_PER_METER;
|
||||
}
|
||||
|
||||
/*
|
||||
* Plays Music!
|
||||
*/
|
||||
public void playSong() {
|
||||
m_orchestra.play();
|
||||
}
|
||||
|
||||
/**
|
||||
* Selects a song to play!
|
||||
* @param song The name of the song to be played
|
||||
*/
|
||||
public void selectSong(String song) {
|
||||
SmartDashboard.putString("Selected Song", song);
|
||||
m_orchestra.loadMusic(song);
|
||||
}
|
||||
/**
|
||||
* Set to high or low gear based on boolean state, true = high, false = low
|
||||
* @param state Chooses between high or low gear
|
||||
*/
|
||||
public void setShiftState(boolean state) {
|
||||
if (state == true) {
|
||||
speedShift.set(DoubleSolenoid.Value.kForward);
|
||||
m_speedShift.set(DoubleSolenoid.Value.kForward);
|
||||
}
|
||||
if (state == false) {
|
||||
speedShift.set(DoubleSolenoid.Value.kReverse);
|
||||
m_speedShift.set(DoubleSolenoid.Value.kReverse);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Set to open or close solenoid that cools the falcon, true = open, false = close
|
||||
* @param state Chooses between open and close
|
||||
*/
|
||||
public void coolFalcon(boolean state) {
|
||||
if (state == true) {
|
||||
m_coolFalcon.set(DoubleSolenoid.Value.kForward);
|
||||
}
|
||||
if (state == false) {
|
||||
m_coolFalcon.set(DoubleSolenoid.Value.kReverse);
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user