mirror of
https://github.com/Team4388/RiseOfRidgebotics2020.git
synced 2026-06-09 00:38:00 -06:00
Merge branch 'master' into add-shooter-subsystem-PID-new
This commit is contained in:
Keenan D. Buckley
@@ -7,13 +7,23 @@
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package frc4388.robot.subsystems;
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import com.ctre.phoenix.motorcontrol.DemandType;
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import com.ctre.phoenix.motorcontrol.FeedbackDevice;
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import com.ctre.phoenix.motorcontrol.FollowerType;
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import com.ctre.phoenix.motorcontrol.InvertType;
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import com.ctre.phoenix.motorcontrol.NeutralMode;
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import com.ctre.phoenix.motorcontrol.RemoteSensorSource;
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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.sensors.PigeonIMU;
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import com.ctre.phoenix.sensors.PigeonIMU_StatusFrame;
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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.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 frc4388.robot.Constants.DriveConstants;
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@@ -34,7 +44,13 @@ public class Drive extends SubsystemBase {
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public DifferentialDrive m_driveTrain = new DifferentialDrive(m_leftFrontMotor, m_rightFrontMotor);
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public static Gains m_driveGains = DriveConstants.DRIVE_GAINS;
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SendableChooser<Gains> m_chooser = new SendableChooser<Gains>();
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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 DoubleSolenoid speedShift;
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/**
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* Add your docs here.
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@@ -48,68 +64,167 @@ 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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/* 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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/* set neutral mode */
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setDriveTrainNeutralMode(NeutralMode.Brake);
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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_leftBackMotor.configNeutralDeadband(0.0); // DO NOT CHANGE
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m_rightBackMotor.configNeutralDeadband(0.0); //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(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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/* Motor Encoders */
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//m_leftFrontMotor.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, DriveConstants.DRIVE_PID_LOOP_IDX, DriveConstants.DRIVE_TIMEOUT_MS);
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//m_rightFrontMotor.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, DriveConstants.DRIVE_PID_LOOP_IDX, DriveConstants.DRIVE_TIMEOUT_MS);
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/*m_leftFrontMotor.setStatusFramePeriod(StatusFrameEnhanced.Status_10_MotionMagic, 10, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.setStatusFramePeriod(StatusFrameEnhanced.Status_10_MotionMagic, 10, DriveConstants.DRIVE_TIMEOUT_MS);
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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_leftFrontMotor.configNominalOutputForward(0, DriveConstants.DRIVE_TIMEOUT_MS);
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m_leftFrontMotor.configNominalOutputReverse(0, DriveConstants.DRIVE_TIMEOUT_MS);
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m_leftFrontMotor.configPeakOutputForward(1, DriveConstants.DRIVE_TIMEOUT_MS);
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m_leftFrontMotor.configPeakOutputReverse(-1, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configNominalOutputForward(0, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configNominalOutputReverse(0, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configPeakOutputForward(1, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configPeakOutputReverse(-1, 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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setDriveTrainGains();
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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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m_leftFrontMotor.configMotionCruiseVelocity(15000, DriveConstants.DRIVE_TIMEOUT_MS);
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m_leftFrontMotor.configMotionAcceleration(6000, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configMotionCruiseVelocity(15000, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configMotionAcceleration(6000, DriveConstants.DRIVE_TIMEOUT_MS);
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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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/*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
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m_leftFrontMotor.setSelectedSensorPosition(0, DriveConstants.DRIVE_PID_LOOP_IDX, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.setSelectedSensorPosition(0, DriveConstants.DRIVE_PID_LOOP_IDX, DriveConstants.DRIVE_TIMEOUT_MS);
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/* Configure the Remote Talon's selected sensor as a remote sensor for the right Talon */
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m_rightFrontMotor.configRemoteFeedbackFilter( m_leftFrontMotor.getDeviceID(), // Device ID of Source
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RemoteSensorSource.TalonSRX_SelectedSensor,
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DriveConstants.REMOTE_0, // Source number [0, 1]
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DriveConstants.DRIVE_TIMEOUT_MS); // Configuration Timeout
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/* Configure the Pigeon IMU to the other Remote Slot available on the right Talon */
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m_rightFrontMotor.configRemoteFeedbackFilter( m_pigeon.getDeviceID(),
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RemoteSensorSource.Pigeon_Yaw,
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DriveConstants.REMOTE_1,
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DriveConstants.DRIVE_TIMEOUT_MS);
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/* Setup Sum signal to be used for Distance */
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m_rightFrontMotor.configSensorTerm(SensorTerm.Sum0, FeedbackDevice.RemoteSensor0, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configSensorTerm(SensorTerm.Sum1, FeedbackDevice.IntegratedSensor, DriveConstants.DRIVE_TIMEOUT_MS);
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/* Diff Signal */
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m_rightFrontMotor.configSensorTerm(SensorTerm.Diff0, FeedbackDevice.RemoteSensor0, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configSensorTerm(SensorTerm.Diff1, FeedbackDevice.IntegratedSensor, DriveConstants.DRIVE_TIMEOUT_MS);
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/* Configure Sum [Sum of both QuadEncoders] to be used for Primary PID Index */
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m_rightFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.SensorDifference,
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DriveConstants.PID_PRIMARY,
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DriveConstants.DRIVE_TIMEOUT_MS);
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/* Don't scale the Feedback Sensor (use 1 for 1:1 ratio) */
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m_rightFrontMotor.configSelectedFeedbackCoefficient( 1, // Coefficient
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DriveConstants.PID_PRIMARY, // PID Slot of Source
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DriveConstants.DRIVE_TIMEOUT_MS); // Configuration Timeout
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m_rightFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.RemoteSensor1,
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DriveConstants.PID_TURN,
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DriveConstants.DRIVE_TIMEOUT_MS);
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/* Don't scale the Feedback Sensor (use 1 for 1:1 ratio) */
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m_rightFrontMotor.configSelectedFeedbackCoefficient( 1,
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DriveConstants.PID_TURN,
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DriveConstants.DRIVE_TIMEOUT_MS);
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/* Don't scale the Feedback Sensor (use 1 for 1:1 ratio) */
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m_leftFrontMotor.configSelectedFeedbackCoefficient( 1,
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DriveConstants.PID_PRIMARY,
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DriveConstants.DRIVE_TIMEOUT_MS);
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/* Set status frame periods to ensure we don't have stale data */
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m_rightFrontMotor.setStatusFramePeriod(StatusFrame.Status_12_Feedback1, 20, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.setStatusFramePeriod(StatusFrame.Status_13_Base_PIDF0, 20, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.setStatusFramePeriod(StatusFrame.Status_14_Turn_PIDF1, 20, DriveConstants.DRIVE_TIMEOUT_MS);
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m_leftFrontMotor.setStatusFramePeriod(StatusFrame.Status_2_Feedback0, 5, DriveConstants.DRIVE_TIMEOUT_MS);
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m_pigeon.setStatusFramePeriod(PigeonIMU_StatusFrame.CondStatus_9_SixDeg_YPR, 5, DriveConstants.DRIVE_TIMEOUT_MS);
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/* Smart Dashboard Initial Values */
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/* Set up Chooser */
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m_chooser.setDefaultOption("Distance PID", m_gainsDistance);
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//setDriveTrainGains("Distance PID", m_gainsDistance);
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m_chooser.addOption("Velocity PID", m_gainsVelocity);
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//setDriveTrainGains("Velocity PID", m_gainsVelocity);
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m_chooser.addOption("Turning PID", m_gainsTurning);
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//setDriveTrainGains("Turning PID", m_gainsTurning);
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m_chooser.addOption("Motion Magic PID", m_gainsMotionMagic);
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//setDriveTrainGains("Motion Magic PID", m_gainsMotionMagic);
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Shuffleboard.getTab("PID").add(m_chooser);
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/* Gyro */
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SmartDashboard.putNumber("Pigeon Yaw", getGyroYaw());
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SmartDashboard.putNumber("Pigeon Pitch", getGyroPitch());
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SmartDashboard.putNumber("Pigeon Roll", getGyroRoll());
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/* Sensor Values */
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SmartDashboard.putNumber("Left Motor Velocity Raw", m_leftFrontMotor.getSelectedSensorVelocity(0));
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SmartDashboard.putNumber("Right Motor Velocity Raw", m_rightFrontMotor.getSelectedSensorVelocity());
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SmartDashboard.putNumber("Left Motor Position Raw", m_leftFrontMotor.getSelectedSensorPosition(0));
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SmartDashboard.putNumber("Right Motor Position Raw", m_rightFrontMotor.getSelectedSensorPosition());
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SmartDashboard.putNumber("P Value Drive", DriveConstants.DRIVE_GAINS.kP);
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SmartDashboard.putNumber("I Value Drive", DriveConstants.DRIVE_GAINS.kI);
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SmartDashboard.putNumber("D Value Drive", DriveConstants.DRIVE_GAINS.kD);
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SmartDashboard.putNumber("F Value Drive", DriveConstants.DRIVE_GAINS.kF);
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/* PID */
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Gains gains = m_chooser.getSelected();
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Shuffleboard.getTab("PID").add("P Value Drive", gains.m_kP);
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Shuffleboard.getTab("PID").add("I Value Drive", gains.m_kI);
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Shuffleboard.getTab("PID").add("D Value Drive", gains.m_kD);
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Shuffleboard.getTab("PID").add("F Value Drive", gains.m_kF);
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/**
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* Max out the peak output (for all modes).
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* However you can limit the output of a given PID object with configClosedLoopPeakOutput().
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*/
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m_leftFrontMotor.configPeakOutputForward(+1, DriveConstants.DRIVE_TIMEOUT_MS);
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m_leftFrontMotor.configPeakOutputReverse(-1, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configPeakOutputForward(+1, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configPeakOutputReverse(-1, DriveConstants.DRIVE_TIMEOUT_MS);
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/**
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* 1ms per loop. PID loop can be slowed down if need be.
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* For example,
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* - if sensor updates are too slow
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* - sensor deltas are very small per update, so derivative error never gets large enough to be useful.
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* - sensor movement is very slow causing the derivative error to be near zero.
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*/
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int closedLoopTimeMs = 1;
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m_leftFrontMotor.configClosedLoopPeriod(0, closedLoopTimeMs, DriveConstants.DRIVE_TIMEOUT_MS);
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m_leftFrontMotor.configClosedLoopPeriod(1, closedLoopTimeMs, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configClosedLoopPeriod(DriveConstants.PID_PRIMARY, closedLoopTimeMs, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configClosedLoopPeriod(DriveConstants.PID_TURN, closedLoopTimeMs, DriveConstants.DRIVE_TIMEOUT_MS);
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/**
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* configAuxPIDPolarity(boolean invert, int timeoutMs)
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* false means talon's local output is PID0 + PID1, and other side Talon is PID0 - PID1
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* true means talon's local output is PID0 - PID1, and other side Talon is PID0 + PID1
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*/
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m_rightFrontMotor.configAuxPIDPolarity(false, DriveConstants.DRIVE_TIMEOUT_MS);
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}
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@Override
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@@ -124,17 +239,24 @@ public class Drive extends SubsystemBase {
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SmartDashboard.putNumber("Left Motor Position Raw", m_leftFrontMotor.getSelectedSensorPosition());
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SmartDashboard.putNumber("Right Motor Position Raw", m_rightFrontMotor.getSelectedSensorPosition(0));
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m_driveGains.kP = SmartDashboard.getNumber("P Value Drive", DriveConstants.DRIVE_GAINS.kP);
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m_driveGains.kI = SmartDashboard.getNumber("I Value Drive", DriveConstants.DRIVE_GAINS.kI);
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m_driveGains.kD = SmartDashboard.getNumber("D Value Drive", DriveConstants.DRIVE_GAINS.kD);
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m_driveGains.kF = SmartDashboard.getNumber("F Value Drive", DriveConstants.DRIVE_GAINS.kF);
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SmartDashboard.putNumber("Right Motor Velocity Int Sensor", m_rightFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
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SmartDashboard.putNumber("Left Motor Velocity Int Sensor", m_leftFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
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setDriveTrainGains();
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SmartDashboard.putNumber("Right Front Motor Current", m_rightFrontMotor.getSupplyCurrent());
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SmartDashboard.putNumber("Left Front Motor Current", m_leftFrontMotor.getSupplyCurrent());
|
||||
SmartDashboard.putNumber("Right Back Motor Current", m_rightFrontMotor.getSupplyCurrent());
|
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SmartDashboard.putNumber("Left Back Motor Current", m_leftFrontMotor.getSupplyCurrent());
|
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|
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SmartDashboard.putNumber("PID 0 Error", m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_PRIMARY));
|
||||
SmartDashboard.putNumber("PID 1 Error", m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_TURN));
|
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SmartDashboard.putNumber("PID 0 Target", m_rightFrontMotor.getClosedLoopTarget(DriveConstants.PID_PRIMARY));
|
||||
SmartDashboard.putNumber("PID 1 Target", m_rightFrontMotor.getClosedLoopTarget(DriveConstants.PID_TURN));
|
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SmartDashboard.putNumber("PID 0 Pos", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_PRIMARY));
|
||||
SmartDashboard.putNumber("PID 1 Pos", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN));
|
||||
|
||||
} catch (Exception e) {
|
||||
|
||||
System.err.println("The programming team has failed successfully in the Drive Subsystem.");
|
||||
|
||||
System.err.println("Error in the Drive Subsystem");
|
||||
//e.printStackTrace(System.err);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -145,8 +267,55 @@ public class Drive extends SubsystemBase {
|
||||
public void setDriveTrainNeutralMode(NeutralMode mode) {
|
||||
m_leftFrontMotor.setNeutralMode(mode);
|
||||
m_rightFrontMotor.setNeutralMode(mode);
|
||||
m_leftFrontMotor.setNeutralMode(mode);
|
||||
m_rightFrontMotor.setNeutralMode(mode);
|
||||
m_leftBackMotor.setNeutralMode(mode);
|
||||
m_rightBackMotor.setNeutralMode(mode);
|
||||
}
|
||||
|
||||
/**
|
||||
* 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
|
||||
*/
|
||||
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);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -173,38 +342,111 @@ public class Drive extends SubsystemBase {
|
||||
m_driveTrain.arcadeDrive(move, steer);
|
||||
}
|
||||
|
||||
public void runDrivePositionPID(WPI_TalonFX talon, double targetPos) {
|
||||
talon.set(TalonFXControlMode.Position, targetPos);
|
||||
/**
|
||||
* Runs a position PID while driving straight (has not been tested)
|
||||
* @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) {
|
||||
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_DISTANCE, DriveConstants.PID_PRIMARY);
|
||||
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
|
||||
|
||||
targetPos *= 2;
|
||||
m_rightFrontMotor.set(TalonFXControlMode.Position, targetPos, DemandType.AuxPID, targetGyro);
|
||||
m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
|
||||
|
||||
m_driveTrain.feedWatchdog();
|
||||
}
|
||||
|
||||
public void runDriveVelocityPID(WPI_TalonFX talon, double targetVel) {
|
||||
talon.set(TalonFXControlMode.Velocity, targetVel);
|
||||
/**
|
||||
* Runs velocity PID while driving straight
|
||||
* @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) {
|
||||
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
|
||||
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
|
||||
|
||||
targetVel *= 2;
|
||||
m_rightFrontMotor.set(TalonFXControlMode.Velocity, targetVel, DemandType.AuxPID, targetGyro);
|
||||
m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
|
||||
|
||||
m_driveTrain.feedWatchdog();
|
||||
}
|
||||
|
||||
public void runDriveMotionMagicPID(WPI_TalonFX talon, double targetPos){
|
||||
talon.set(TalonFXControlMode.MotionMagic, targetPos);
|
||||
/**
|
||||
* Runs motion magic PID while driving straight (has not been tested)
|
||||
* @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){
|
||||
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_MOTION_MAGIC, DriveConstants.PID_PRIMARY);
|
||||
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
|
||||
|
||||
m_rightFrontMotor.set(TalonFXControlMode.MotionMagic, targetPos, DemandType.AuxPID, targetGyro);
|
||||
m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
|
||||
|
||||
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;
|
||||
|
||||
runDriveStraightVelocityPID(0, targetGyro);
|
||||
}
|
||||
|
||||
/**
|
||||
* Returns the current yaw of the pigeon
|
||||
*/
|
||||
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];
|
||||
}
|
||||
|
||||
/**
|
||||
* Returns the current roll of the pigeon
|
||||
*/
|
||||
public double getGyroRoll() {
|
||||
double[] ypr = new double[3];
|
||||
|
||||
m_pigeon.getYawPitchRoll(ypr);
|
||||
return ypr[2];
|
||||
}
|
||||
|
||||
/**
|
||||
* Resets the yaw of the pigeon
|
||||
*/
|
||||
public void resetGyroYaw() {
|
||||
m_pigeon.setYaw(0);
|
||||
m_pigeon.setAccumZAngle(0);
|
||||
}
|
||||
|
||||
/**
|
||||
* 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);
|
||||
}
|
||||
if (state == false) {
|
||||
speedShift.set(DoubleSolenoid.Value.kReverse);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user