Team4388/RiseOfRidgebotics2020
1
0
Fork 0
mirror of https://github.com/Team4388/RiseOfRidgebotics2020.git synced 2026-06-09 00:38:00 -06:00
Code Issues Packages Projects Releases Wiki Activity

Fix Shooter PID

Browse Source
This commit is contained in:
ryan123rudder
2020-01-31 21:39:51 -07:00
parent 8a95c8a8cc
commit 42db77fe6d
6 changed files with 16 additions and 151 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/Constants.java
+1 -1
View File
@@ -58,7 +58,7 @@ 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 SHOOTER_GAINS = new Gains(0.1, 0.0, 0.0, 0.0, 0, 1.0);
public static final Gains SHOOTER_GAINS = new Gains(0.0, 0.0, 0.0, 0.0542, 0, 1.0);
public static final double ENCODER_TICKS_PER_REV = 2048;
}
src/main/java/frc4388/robot/RobotContainer.java
+2 -11
View File
@@ -15,7 +15,6 @@ import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.commands.DistanceElevatorPID;
import frc4388.robot.commands.DriveAtVelocityPID;
import frc4388.robot.commands.DriveToDistanceMM;
import frc4388.robot.commands.DriveToDistancePID;
@@ -23,7 +22,6 @@ import frc4388.robot.commands.DriveWithJoystick;
import frc4388.robot.commands.RunIntakeWithTriggers;
import frc4388.robot.commands.ShooterVelocityControlPID;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.Elevator;
import frc4388.robot.subsystems.Intake;
import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.Shooter;
@@ -43,7 +41,6 @@ public class RobotContainer {
private final Drive m_robotDrive = new Drive();
private final LED m_robotLED = new LED();
private final Intake m_robotIntake = new Intake();
private final Elevator m_robotElevator = new Elevator();
private final Shooter m_robotShooter = new Shooter();
/* Controllers */
@@ -61,12 +58,9 @@ public class RobotContainer {
m_robotDrive.setDefaultCommand(new DriveWithJoystick(m_robotDrive, getDriverController()));
// drives motor with input from triggers on the opperator controller
m_robotIntake.setDefaultCommand(new RunIntakeWithTriggers(m_robotIntake, getOperatorController()));
// moves elevator with one-axis input from the driver controller
m_robotElevator.setDefaultCommand(new RunCommand(() -> m_robotElevator.moveElevator(
getOperatorController().getLeftYAxis()), m_robotElevator
));
// continually sends updates to the Blinkin LED controller to keep the lights on
m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runDrumShooter(0), m_robotShooter));
}
/**
@@ -97,10 +91,7 @@ public class RobotContainer {
.whenPressed(new DriveAtVelocityPID(m_robotDrive, 2000));
new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
.whileHeld(new ShooterVelocityControlPID(m_robotShooter, 2300));
new JoystickButton(getOperatorJoystick(), XboxController.LEFT_BUMPER_BUTTON)
.whenPressed(new DistanceElevatorPID(m_robotElevator, 20000));
.whileHeld(new ShooterVelocityControlPID(m_robotShooter, 3200));
/*new JoystickButton(getDriverJoystick(), XboxController.LEFT_JOYSTICK_BUTTON)
.whenPressed(new InstantCommand(null, m_robotDrive));*/
src/main/java/frc4388/robot/commands/DistanceElevatorPID.java
-56
View File
@@ -1,56 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package frc4388.robot.commands;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.subsystems.Elevator;
public class DistanceElevatorPID extends CommandBase {
Elevator m_elevator;
double m_distance;
double m_target1;
double m_target2;
/**
* Creates a new DistanceElevatorPID.
*/
public DistanceElevatorPID(Elevator subsystem, double distance) {
// Use addRequirements() here to declare subsystem dependencies.
m_elevator = subsystem;
m_distance = distance;
addRequirements(m_elevator);
}
// Called when the command is initially scheduled.
@Override
public void initialize() {
m_target1 = m_elevator.m_talon1.getActiveTrajectoryPosition() + m_distance;
m_target2 = m_elevator.m_talon2.getActiveTrajectoryPosition() + m_distance;
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
m_elevator.runElevatorPositionPID(m_elevator.m_talon1, m_target1);
m_elevator.runElevatorPositionPID(m_elevator.m_talon2, m_target2);
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
if (Math.abs(m_elevator.m_talon1.getActiveTrajectoryPosition() - m_target1) < 100) {
return true;
} else {
return false;
}
}
}
src/main/java/frc4388/robot/commands/ShooterVelocityControlPID.java
+3 -2
View File
@@ -31,10 +31,11 @@ public class ShooterVelocityControlPID extends CommandBase {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if (m_shooter.m_shooterFalcon.getActiveTrajectoryVelocity() < 1000){
if (/*m_shooter.m_shooterFalcon.getActiveTrajectoryVelocity() < 1000*/false){
m_shooter.runDrumShooter(0.5);
System.err.println("Less than 1000: " + m_shooter.m_shooterFalcon.getActiveTrajectoryVelocity());
} else {
m_shooter.runDrumShooterVelocityPID(m_targetVel);
m_shooter.runDrumShooterVelocityPID(m_targetVel, m_shooter.m_shooterFalcon.getActiveTrajectoryVelocity());
}
}
src/main/java/frc4388/robot/subsystems/Elevator.java
-78
View File
@@ -1,78 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package frc4388.robot.subsystems;
import com.ctre.phoenix.motorcontrol.ControlMode;
import com.ctre.phoenix.motorcontrol.InvertType;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Gains;
import frc4388.robot.Constants.ElevatorConstants;
public class Elevator extends SubsystemBase {
public WPI_TalonSRX m_talon1 = new WPI_TalonSRX(ElevatorConstants.TALON_1);
public WPI_TalonSRX m_talon2 = new WPI_TalonSRX(ElevatorConstants.TALON_2);
public static Gains m_elevatorGains = ElevatorConstants.ELEVATOR_GAINS;
/**
* Creates a new Elevator.
*/
public Elevator() {
//resets motors
m_talon1.configFactoryDefault();
m_talon2.configFactoryDefault();
//config following settings
m_talon2.follow(m_talon1);
m_talon1.setNeutralMode(NeutralMode.Brake);
m_talon2.setNeutralMode(NeutralMode.Brake);
m_talon1.setInverted(false);
m_talon2.setInverted(false);
m_talon1.setInverted(InvertType.FollowMaster);
m_talon2.setInverted(InvertType.FollowMaster);
setElevatorGains();
m_talon1.setSelectedSensorPosition(0, ElevatorConstants.ELEVATOR_PID_LOOP_IDX, ElevatorConstants.ELEVATOR_TIMEOUT_MS);
m_talon2.setSelectedSensorPosition(0, ElevatorConstants.ELEVATOR_PID_LOOP_IDX, ElevatorConstants.ELEVATOR_TIMEOUT_MS);
int closedLoopTimeMs = 1;
m_talon1.configClosedLoopPeriod(0, closedLoopTimeMs, ElevatorConstants.ELEVATOR_TIMEOUT_MS);
m_talon1.configClosedLoopPeriod(1, closedLoopTimeMs, ElevatorConstants.ELEVATOR_TIMEOUT_MS);
}
@Override
public void periodic() {
// This method will be called once per scheduler run
}
public void moveElevator(double speed) {
m_talon1.set(speed);
m_talon2.set(speed);
}
public void setElevatorGains(){
m_talon1.selectProfileSlot(ElevatorConstants.ELEVATOR_SLOT_IDX, ElevatorConstants.ELEVATOR_PID_LOOP_IDX);
m_talon1.config_kF(ElevatorConstants.ELEVATOR_SLOT_IDX, m_elevatorGains.kF, ElevatorConstants.ELEVATOR_TIMEOUT_MS);
m_talon1.config_kP(ElevatorConstants.ELEVATOR_SLOT_IDX, m_elevatorGains.kP, ElevatorConstants.ELEVATOR_TIMEOUT_MS);
m_talon1.config_kI(ElevatorConstants.ELEVATOR_SLOT_IDX, m_elevatorGains.kI, ElevatorConstants.ELEVATOR_TIMEOUT_MS);
m_talon1.config_kD(ElevatorConstants.ELEVATOR_SLOT_IDX, m_elevatorGains.kD, ElevatorConstants.ELEVATOR_TIMEOUT_MS);
m_talon2.selectProfileSlot(ElevatorConstants.ELEVATOR_SLOT_IDX, ElevatorConstants.ELEVATOR_PID_LOOP_IDX);
m_talon2.config_kF(ElevatorConstants.ELEVATOR_SLOT_IDX, m_elevatorGains.kF, ElevatorConstants.ELEVATOR_TIMEOUT_MS);
m_talon2.config_kP(ElevatorConstants.ELEVATOR_SLOT_IDX, m_elevatorGains.kP, ElevatorConstants.ELEVATOR_TIMEOUT_MS);
m_talon2.config_kI(ElevatorConstants.ELEVATOR_SLOT_IDX, m_elevatorGains.kI, ElevatorConstants.ELEVATOR_TIMEOUT_MS);
m_talon2.config_kD(ElevatorConstants.ELEVATOR_SLOT_IDX, m_elevatorGains.kD, ElevatorConstants.ELEVATOR_TIMEOUT_MS);
}
public void runElevatorPositionPID(WPI_TalonSRX talon, double targetPos) {
talon.set(ControlMode.Position, targetPos);
}
}
src/main/java/frc4388/robot/subsystems/Shooter.java
+10 -3
View File
@@ -25,6 +25,7 @@ public class Shooter extends SubsystemBase {
public static Gains m_shooterGains = ShooterConstants.SHOOTER_GAINS;
double velP;
/**
* Creates a new Shooter.
*/
@@ -76,7 +77,13 @@ public class Shooter extends SubsystemBase {
* @param falcon Motor to use
* @param targetVel Target velocity to run motor at
*/
public void runDrumShooterVelocityPID(double targetVel) {
m_shooterFalcon.set(TalonFXControlMode.Velocity, m_targetVel*ShooterConstants.ENCODER_TICKS_PER_REV/600);
public void runDrumShooterVelocityPID(double targetVel, double actualVel) {
velP = actualVel/targetVel;
if(velP < 0.1){
velP = 0.1;
}
double runSpeed = velP*(1-velP);
System.err.println(runSpeed);
m_shooterFalcon.set(TalonFXControlMode.PercentOutput, runSpeed/*ShooterConstants.ENCODER_TICKS_PER_REV/600*/);
}
}
}