Team4388/RiseOfRidgebotics2020
1
0
Fork 0
mirror of https://github.com/Team4388/RiseOfRidgebotics2020.git synced 2026-06-09 08:48:01 -06:00
Code Issues Packages Projects Releases Wiki Activity

Make Position PID workie

Browse Source 
Co-Authored-By: Keenan D. Buckley <hfocus@users.noreply.github.com>
This commit is contained in:
aarav18
2020-02-07 20:03:13 -07:00
parent 13801cabc3
commit 43d9e8aa99
3 changed files with 30 additions and 22 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/RobotContainer.java
+12 -13
View File
@@ -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));
}
/**
src/main/java/frc4388/robot/commands/DriveStraightToPositionPID.java
+15 -6
View File
@@ -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;
}
}
src/main/java/frc4388/robot/subsystems/Drive.java
+3 -3
View File
@@ -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);