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Added Neo PID loops to Shooter Subsystem for angle adjustment and rotating the shooter

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This commit is contained in:
mayabartels
2020-02-11 16:09:31 -08:00
parent c94de7fdc6
commit 5bb1dbc397
3 changed files with 60 additions and 1 deletions
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src/main/java/frc4388/robot/Constants.java
+5
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@@ -71,7 +71,10 @@ public final class Constants {
}
public static final class ShooterConstants {
/* Motor IDs */
public static final int SHOOTER_FALCON_ID = 8;
public static final int SHOOTER_ANGLE_ADJUST_ID = -1;
public static final int SHOOTER_ROTATE_ID = -2;
/* PID Constants Shooter */
public static final int SHOOTER_SLOT_IDX = 0;
@@ -80,6 +83,8 @@ public final class Constants {
public static final Gains SHOOTER_GAINS = new Gains(0.4, 0.0005, 13, 0.05, 0, 1.0);
public static final double ENCODER_TICKS_PER_REV = 2048;
public static final double NEO_UNITS_PER_REV = 42;
public static final double DEGREES_PER_ROT = 360;
}
public static final class ClimberConstants {
src/main/java/frc4388/robot/RobotContainer.java
+7
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@@ -134,6 +134,13 @@ public class RobotContainer {
// interrupts any running command
new JoystickButton(getDriverJoystick(), XboxController.LEFT_JOYSTICK_BUTTON)
.whenPressed(new InstantCommand(() -> System.out.print("Gamer"), m_robotDrive));
/* TEST shooter rotate PIDs */
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whileHeld(new RunCommand(() -> m_robotShooter.runAngleAdjustPID(360, 0.2, 0.0, 0.0, 0.0, 0.0, 1, -1)));
new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
.whileHeld(new RunCommand(() -> m_robotShooter.runshooterRotatePID(360, 0.2, 0.0, 0.0, 0.0, 0.0, 1, -1)));
/* TEST for both commands above */
}
/**
src/main/java/frc4388/robot/subsystems/Shooter.java
+48 -1
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@@ -10,19 +10,32 @@ package frc4388.robot.subsystems;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.revrobotics.CANEncoder;
import com.revrobotics.CANPIDController;
import com.revrobotics.CANSparkMax;
import com.revrobotics.ControlType;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Gains;
import frc4388.robot.Constants.DriveConstants;
import frc4388.robot.Constants.ShooterConstants;
public class Shooter extends SubsystemBase {
public WPI_TalonFX m_shooterFalcon = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_ID);
public CANSparkMax m_angleAdjustMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless);
public CANSparkMax m_shooterRotateMotor = new CANSparkMax(ShooterConstants.SHOOTER_ROTATE_ID, MotorType.kBrushless);
public static Gains m_shooterGains = ShooterConstants.SHOOTER_GAINS;
// Configure PID Controllers
CANPIDController m_angleAdjustPIDController = m_angleAdjustMotor.getPIDController();
CANPIDController m_shooterRotatePIDController = m_shooterRotateMotor.getPIDController();
CANEncoder m_angleEncoder = m_angleAdjustMotor.getEncoder();
CANEncoder m_shooterRotateEncoder = m_shooterRotateMotor.getEncoder();
double velP;
/**
* Creates a new Shooter subsystem.
@@ -87,4 +100,38 @@ public class Shooter extends SubsystemBase {
m_shooterFalcon.set(TalonFXControlMode.Velocity, targetVel); //Init PID
}
}
/* Angle Adjustment PID Control */
public void runAngleAdjustPID(double targetAngle, double kP, double kI, double kD, double kIz, double kF, double kmaxOutput, double kminOutput)
{
// Set PID Coefficients
m_angleAdjustPIDController.setP(kP);
m_angleAdjustPIDController.setI(kI);
m_angleAdjustPIDController.setD(kD);
m_angleAdjustPIDController.setIZone(kIz);
m_angleAdjustPIDController.setFF(kF);
m_angleAdjustPIDController.setOutputRange(kminOutput, kmaxOutput);
// Convert input angle in degrees to rotations of the motor
targetAngle = targetAngle/ShooterConstants.DEGREES_PER_ROT;
m_angleAdjustPIDController.setReference(targetAngle, ControlType.kPosition);
}
/* Rotate Shooter PID Control */
public void runshooterRotatePID(double targetAngle, double kP, double kI, double kD, double kIz, double kF, double kmaxOutput, double kminOutput)
{
// Set PID Coefficients
m_shooterRotatePIDController.setP(kP);
m_shooterRotatePIDController.setI(kI);
m_shooterRotatePIDController.setD(kD);
m_shooterRotatePIDController.setIZone(kIz);
m_shooterRotatePIDController.setFF(kF);
m_shooterRotatePIDController.setOutputRange(kminOutput, kmaxOutput);
// Convert input angle in degrees to rotations of the motor
targetAngle = targetAngle/ShooterConstants.DEGREES_PER_ROT;
m_shooterRotatePIDController.setReference(targetAngle, ControlType.kPosition);
}
}