mirror of
https://github.com/Team4388/RiseOfRidgebotics2020.git
synced 2026-06-09 08:48:01 -06:00
Account for High gear being a nice boy
This commit is contained in:
Aarav Shah
@@ -33,6 +33,15 @@ public final class Constants {
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public static final Gains DRIVE_VELOCITY_GAINS = new Gains(0.1, 0.0, 0.2, 0.025, 0, 1.0);
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public static final Gains DRIVE_TURNING_GAINS = new Gains(0.5, 0.0, 0.05, 0.0, 0, 0.55);
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public static final Gains DRIVE_MOTION_MAGIC_GAINS = new Gains(0.2, 0.0, 0.0, 0.0, 0, 1.0);
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public static final int DRIVE_CRUISE_VELOCITY = 20000;
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public static final int DRIVE_ACCELERATION = 7000;
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public static final Gains DRIVE_DISTANCE_GAINS_HIGH = new Gains(0.05, 0.0, 0.0, 0.0, 0, 0.5);
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public static final Gains DRIVE_VELOCITY_GAINS_HIGH = new Gains(0.0, 0.0, 0.0, 0.0, 0, 1.0);
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public static final Gains DRIVE_TURNING_GAINS_HIGH = new Gains(0.0, 0.0, 0.0, 0.0, 0, 0.55);
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public static final Gains DRIVE_MOTION_MAGIC_GAINS_HIGH = new Gains(0.0, 0.0, 0.0, 0.0, 0, 1.0);
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public static final int DRIVE_CRUISE_VELOCITY_HIGH = 20000;
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public static final int DRIVE_ACCELERATION_HIGH = 7000;
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/* Trajectory Constants */
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public static final double MAX_SPEED_METERS_PER_SECOND = 3;
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@@ -24,6 +24,22 @@ public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
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IHandController m_controller;
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boolean m_isInterrupted;
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/* Deadassist Constants */
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final float stopPosVelCoefLow = 1;
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final float stopPosVelCoefHigh = 3;
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final float cosMultiplierLow = 0.55f;
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final float cosMultiplierHigh = 0.35f;
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final float targetAngleCoefLow = 5;
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final float targetAngleCoefHigh = 5;
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final float gyroVelCoefLow = 1;
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final float gyroVelCoefHigh = 3;
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/* Deadassist Coeficients */
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final float stopPosVelCoef = 1;
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final float cosMultiplier = 0.55f;
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final float targetAngleCoef = 5;
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final float gyroVelCoef = 1;
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/**
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* Creates a new DriveWithJoystickUsingDeadAssistPID to control the drivetrain with an Xbox controller.
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* Applies a curved ramp to the input from the controllers to make the robot less "touchy".
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@@ -73,15 +89,19 @@ public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
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m_deadTimeSteer = m_currTime;
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}
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/* If move stick has been pressed within 1 sec */
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if (m_currTime - m_deadTimeMove < m_deadTimeout) {
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/* Curves the moveInput to be slightly more gradual at first */
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if (moveInput >= 0) {
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moveOutput = -Math.cos(1.571*moveInput)+1;
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} else {
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moveOutput = Math.cos(1.571*moveInput)-1;
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}
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/* Curves the moveInput to be slightly more gradual at first */
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if (moveInput >= 0) {
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moveOutput = -Math.cos(1.571*moveInput)+1;
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} else {
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moveOutput = Math.cos(1.571*moveInput)-1;
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}
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if (m_drive.isSpeedShiftHigh) {
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runDriveWithInput(moveOutput, steerInput);
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resetGyroTarget();
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}
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/* If move stick has been pressed within 1 sec */
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else if (m_currTime - m_deadTimeMove < m_deadTimeout) {
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/* If steer stick has not been used for less than 1 sec */
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if (m_currTime - m_deadTimeSteer < m_deadTimeout) {
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runDriveWithInput(moveOutput, steerInput);
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@@ -131,7 +151,7 @@ public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
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updateGyroTarget(steerOutput);
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double currentPos = m_drive.m_rightFrontMotorPos;
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if (Math.abs(currentPos - m_stopPos) > 100) {
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if (Math.abs(currentPos - m_stopPos) > 200) {
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m_drive.runDrivePositionPID(m_stopPos, m_targetGyro);
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} else {
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m_drive.driveWithInputAux(0, m_targetGyro);
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@@ -145,15 +165,15 @@ public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
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private void updateGyroTarget(double steerInput) {
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m_targetGyro -= 5 * steerInput * m_deltaTime;
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m_targetGyro = MathUtil.clamp( m_targetGyro,
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m_currentGyro-(DriveConstants.TICKS_PER_GYRO_REV/2),
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m_currentGyro+(DriveConstants.TICKS_PER_GYRO_REV/2));
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m_currentGyro-(DriveConstants.TICKS_PER_GYRO_REV/3),
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m_currentGyro+(DriveConstants.TICKS_PER_GYRO_REV/3));
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}
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/**
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* set target angle to current angle (prevents buildup of gyro error).
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*/
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private void resetGyroTarget() {
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m_targetGyro = m_currentGyro;
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//m_targetGyro = m_currentGyro;
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m_targetGyro = m_currentGyro
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+ m_drive.getTurnRate();
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}
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@@ -75,10 +75,17 @@ public class Drive extends SubsystemBase {
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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_gainsDistanceLow = DriveConstants.DRIVE_DISTANCE_GAINS_HIGH;
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public static Gains m_gainsVelocityLow = DriveConstants.DRIVE_VELOCITY_GAINS_HIGH;
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public static Gains m_gainsTurningLow = DriveConstants.DRIVE_TURNING_GAINS_HIGH;
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public static Gains m_gainsMotionMagicLow = DriveConstants.DRIVE_MOTION_MAGIC_GAINS_HIGH;
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public final DifferentialDriveOdometry m_odometry;
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public DoubleSolenoid m_speedShift;
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public boolean isSpeedShiftHigh;
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public DoubleSolenoid m_coolFalcon;
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SendableChooser<String> m_songChooser = new SendableChooser<String>();
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@@ -128,36 +135,7 @@ public class Drive extends SubsystemBase {
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//m_rightFrontMotor.configNeutralDeadband(0.0, DriveConstants.DRIVE_TIMEOUT_MS); // Ensures motors run at the same speed
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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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m_rightFrontMotor.config_kP(DriveConstants.SLOT_TURNING, m_gainsTurning.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
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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.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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@@ -371,6 +349,72 @@ public class Drive extends SubsystemBase {
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-inchesToMeters(getDistanceInches(m_rightBackMotor)));
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}
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public void setRightMotorGains(boolean isHighGear) {
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if (!isHighGear) {
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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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m_rightFrontMotor.config_kP(DriveConstants.SLOT_TURNING, m_gainsTurning.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
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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.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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} else {
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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_gainsVelocityLow.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kP(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kI(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kD(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.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_gainsTurningLow.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kP(DriveConstants.SLOT_TURNING, m_gainsTurningLow.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kI(DriveConstants.SLOT_TURNING, m_gainsTurningLow.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kD(DriveConstants.SLOT_TURNING, m_gainsTurningLow.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_TURNING, m_gainsTurningLow.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_gainsDistanceLow.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kP(DriveConstants.SLOT_DISTANCE, m_gainsDistanceLow.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kI(DriveConstants.SLOT_DISTANCE, m_gainsDistanceLow.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kD(DriveConstants.SLOT_DISTANCE, m_gainsDistanceLow.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configClosedLoopPeakOutput( DriveConstants.SLOT_DISTANCE, m_gainsDistanceLow.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_gainsMotionMagicLow.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kP(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagicLow.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kI(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagicLow.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kD(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagicLow.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configClosedLoopPeakOutput( DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagicLow.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configMotionCruiseVelocity(DriveConstants.DRIVE_CRUISE_VELOCITY_HIGH, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configMotionAcceleration(DriveConstants.DRIVE_ACCELERATION_HIGH, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configMotionSCurveStrength(0, DriveConstants.DRIVE_TIMEOUT_MS);
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}
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}
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/**
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* Sets Motors to a NeutralMode.
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*
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@@ -705,11 +749,13 @@ public class Drive extends SubsystemBase {
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*/
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public void setShiftState(boolean state) {
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if (state == true) {
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m_speedShift.set(DoubleSolenoid.Value.kForward);
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}
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if (state == false) {
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m_speedShift.set(DoubleSolenoid.Value.kReverse);
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}
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}
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if (state == false) {
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m_speedShift.set(DoubleSolenoid.Value.kForward);
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}
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setRightMotorGains(state);
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isSpeedShiftHigh = state;
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}
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/**
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