From 43d9e8aa992cc5080385bee61ac08e49305ae11f Mon Sep 17 00:00:00 2001 From: aarav18 Date: Fri, 7 Feb 2020 20:03:13 -0700 Subject: [PATCH] Make Position PID workie Co-Authored-By: Keenan D. Buckley --- .../java/frc4388/robot/RobotContainer.java | 25 +++++++++---------- .../commands/DriveStraightToPositionPID.java | 21 +++++++++++----- .../java/frc4388/robot/subsystems/Drive.java | 6 ++--- 3 files changed, 30 insertions(+), 22 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index d9c82a3..9fb7762 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -16,6 +16,7 @@ import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.button.JoystickButton; import frc4388.robot.Constants.*; import frc4388.robot.commands.DriveStraightAtVelocityPID; +import frc4388.robot.commands.DriveStraightToPositionPID; import frc4388.robot.commands.DriveWithJoystick; import frc4388.robot.commands.RunIntakeWithTriggers; import frc4388.robot.subsystems.Drive; @@ -65,16 +66,8 @@ public class RobotContainer { */ private void configureButtonBindings() { /* Driver Buttons */ - //new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON) - // .whenPressed(new DriveStraightToPositionPID(m_robotDrive, 36)); - - /* Operator Buttons */ - // activates "Lit Mode" - new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON) - .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW)) - .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN)); - - /* PID Test Command */ + new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON) + .whenPressed(new DriveStraightToPositionPID(m_robotDrive, 144)); // runs velocity PID while driving straight new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON) .whenPressed(new DriveStraightAtVelocityPID(m_robotDrive, 500)) @@ -82,12 +75,18 @@ public class RobotContainer { // resets the yaw of the pigeon new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON) .whenPressed(new InstantCommand(() -> m_robotDrive.resetGyroYaw(), m_robotDrive)); - - //new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON) - // .whenPressed(new RunCommand(() -> m_robotDrive.runMotionMagicPID(5000, 0), m_robotDrive)); + // turn 45 degrees + new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON) + .whenPressed(new RunCommand(() -> m_robotDrive.runTurningPID(45), m_robotDrive)); // interrupts any running command new JoystickButton(getDriverJoystick(), XboxController.LEFT_JOYSTICK_BUTTON) .whenPressed(new InstantCommand(() -> System.out.print("Gamer"), m_robotDrive)); + + /* Operator Buttons */ + // activates "Lit Mode" + new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON) + .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW)) + .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN)); } /** diff --git a/src/main/java/frc4388/robot/commands/DriveStraightToPositionPID.java b/src/main/java/frc4388/robot/commands/DriveStraightToPositionPID.java index 67d78b3..0b9b998 100644 --- a/src/main/java/frc4388/robot/commands/DriveStraightToPositionPID.java +++ b/src/main/java/frc4388/robot/commands/DriveStraightToPositionPID.java @@ -14,8 +14,10 @@ import frc4388.robot.subsystems.Drive; public class DriveStraightToPositionPID extends CommandBase { Drive m_drive; - double m_targetPos; + double m_targetPosIn; + double m_targetPosOut; double m_targetGyro; + int i; /** * Creates a new DriveToDistancePID. @@ -25,22 +27,27 @@ public class DriveStraightToPositionPID extends CommandBase { public DriveStraightToPositionPID(Drive subsystem, double targetPos) { // Use addRequirements() here to declare subsystem dependencies. m_drive = subsystem; - m_targetPos = targetPos * DriveConstants.TICKS_PER_INCH; + m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH; addRequirements(m_drive); - SmartDashboard.putNumber("Distance Target Inches", targetPos); + //SmartDashboard.putNumber("Distance Target Inches", targetPos); } // Called when the command is initially scheduled. @Override public void initialize() { + //System.err.println("PID START \n | \n |"); m_targetGyro = m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN); + m_targetPosOut = m_targetPosIn + m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_PRIMARY); + i = 0; } // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - //System.err.println(m_drive.m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_TURN)); - m_drive.runDriveStraightPositionPID(m_targetPos, m_targetGyro); + //System.err.println("| \n Sensor Pos \n" + m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_PRIMARY)); + //System.err.println("Sensor Error \n" + m_drive.m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_PRIMARY)); + //System.err.println("Sensor Target \n" + m_drive.m_rightFrontMotor.getClosedLoopTarget(DriveConstants.PID_PRIMARY)); + m_drive.runDriveStraightPositionPID(m_targetPosOut, m_targetGyro); } // Called once the command ends or is interrupted. @@ -51,9 +58,11 @@ public class DriveStraightToPositionPID extends CommandBase { // Returns true when the command should end. @Override public boolean isFinished() { - if (Math.abs(m_drive.m_leftFrontMotor.getActiveTrajectoryPosition() - m_targetPos) < 500){ + if (Math.abs((int)m_drive.m_rightFrontMotor.getSelectedSensorVelocity(DriveConstants.PID_PRIMARY)) < 5 && i > 5){ return true; } else { + i++; + //System.err.println(i); return false; } } diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java index ee725ad..faf161e 100644 --- a/src/main/java/frc4388/robot/subsystems/Drive.java +++ b/src/main/java/frc4388/robot/subsystems/Drive.java @@ -130,8 +130,8 @@ public class Drive extends SubsystemBase { m_rightFrontMotor.configSensorTerm(SensorTerm.Sum1, FeedbackDevice.IntegratedSensor, DriveConstants.DRIVE_TIMEOUT_MS); /* Diff Signal */ - m_rightFrontMotor.configSensorTerm(SensorTerm.Diff0, FeedbackDevice.RemoteSensor0, DriveConstants.DRIVE_TIMEOUT_MS); - m_rightFrontMotor.configSensorTerm(SensorTerm.Diff1, FeedbackDevice.IntegratedSensor, DriveConstants.DRIVE_TIMEOUT_MS); + m_rightFrontMotor.configSensorTerm(SensorTerm.Diff1, FeedbackDevice.RemoteSensor0, DriveConstants.DRIVE_TIMEOUT_MS); + 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, @@ -329,7 +329,7 @@ public class Drive extends SubsystemBase { m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_DISTANCE, DriveConstants.PID_PRIMARY); m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN); - targetPos *= 2; + targetPos *= 1; m_rightFrontMotor.set(TalonFXControlMode.Position, targetPos, DemandType.AuxPID, targetGyro); m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);