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Make gains editable in SmartDashboard

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This commit is contained in:
Keenan D. Buckley
2020-01-16 18:22:01 -07:00
parent 69b28c73b3
commit 686e9feb00
2 changed files with 33 additions and 21 deletions
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src/main/java/frc4388/robot/subsystems/Drive.java
+27 -15
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@@ -24,7 +24,7 @@ import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.ProfiledPIDSubsystem;
import frc4388.robot.Gains;
import frc4388.robot.Constants.DriveConstants;
import frc4388.utility.controller.XboxController;
@@ -43,6 +43,8 @@ public class Drive extends SubsystemBase {
public static DifferentialDrive m_driveTrain = new DifferentialDrive(m_leftFrontMotor, m_rightFrontMotor);
public static Gains m_gains = DriveConstants.DRIVE_GAINS;
/**
* Add your docs here.
*/
@@ -84,16 +86,7 @@ public class Drive extends SubsystemBase {
m_rightFrontMotor.configPeakOutputForward(1, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configPeakOutputReverse(-1, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftFrontMotor.selectProfileSlot(DriveConstants.DRIVE_SLOT_IDX, DriveConstants.DRIVE_PID_LOOP_IDX);
m_leftFrontMotor.config_kF(DriveConstants.DRIVE_SLOT_IDX, DriveConstants.DRIVE_GAINS.kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftFrontMotor.config_kP(DriveConstants.DRIVE_SLOT_IDX, DriveConstants.DRIVE_GAINS.kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftFrontMotor.config_kI(DriveConstants.DRIVE_SLOT_IDX, DriveConstants.DRIVE_GAINS.kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftFrontMotor.config_kD(DriveConstants.DRIVE_SLOT_IDX, DriveConstants.DRIVE_GAINS.kD, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.selectProfileSlot(DriveConstants.DRIVE_SLOT_IDX, DriveConstants.DRIVE_PID_LOOP_IDX);
m_rightFrontMotor.config_kF(DriveConstants.DRIVE_SLOT_IDX, DriveConstants.DRIVE_GAINS.kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kP(DriveConstants.DRIVE_SLOT_IDX, DriveConstants.DRIVE_GAINS.kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kI(DriveConstants.DRIVE_SLOT_IDX, DriveConstants.DRIVE_GAINS.kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kD(DriveConstants.DRIVE_SLOT_IDX, DriveConstants.DRIVE_GAINS.kD, DriveConstants.DRIVE_TIMEOUT_MS);
setDriveTrainGains();
m_leftFrontMotor.configMotionCruiseVelocity(15000, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftFrontMotor.configMotionAcceleration(6000, DriveConstants.DRIVE_TIMEOUT_MS);
@@ -137,10 +130,12 @@ public class Drive extends SubsystemBase {
SmartDashboard.putNumber("Left Motor Position Raw", m_leftFrontMotor.getSelectedSensorPosition());
SmartDashboard.putNumber("Right Motor Position Raw", m_rightFrontMotor.getSelectedSensorPosition(0));
SmartDashboard.getNumber("P Value Drive", DriveConstants.DRIVE_GAINS.kP);
SmartDashboard.getNumber("I Value Drive", DriveConstants.DRIVE_GAINS.kI);
SmartDashboard.getNumber("D Value Drive", DriveConstants.DRIVE_GAINS.kD);
SmartDashboard.getNumber("F Value Drive", DriveConstants.DRIVE_GAINS.kF);
m_gains.kP = SmartDashboard.getNumber("P Value Drive", DriveConstants.DRIVE_GAINS.kP);
m_gains.kI = SmartDashboard.getNumber("I Value Drive", DriveConstants.DRIVE_GAINS.kI);
m_gains.kD = SmartDashboard.getNumber("D Value Drive", DriveConstants.DRIVE_GAINS.kD);
m_gains.kF = SmartDashboard.getNumber("F Value Drive", DriveConstants.DRIVE_GAINS.kF);
setDriveTrainGains();
} catch (Exception e) {
@@ -160,6 +155,23 @@ public class Drive extends SubsystemBase {
m_rightFrontMotor.setNeutralMode(mode);
}
/**
* Add your docs here.
*/
public void setDriveTrainGains(){
m_leftFrontMotor.selectProfileSlot(DriveConstants.DRIVE_SLOT_IDX, DriveConstants.DRIVE_PID_LOOP_IDX);
m_leftFrontMotor.config_kF(DriveConstants.DRIVE_SLOT_IDX, m_gains.kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftFrontMotor.config_kP(DriveConstants.DRIVE_SLOT_IDX, m_gains.kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftFrontMotor.config_kI(DriveConstants.DRIVE_SLOT_IDX, m_gains.kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftFrontMotor.config_kD(DriveConstants.DRIVE_SLOT_IDX, m_gains.kD, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.selectProfileSlot(DriveConstants.DRIVE_SLOT_IDX, DriveConstants.DRIVE_PID_LOOP_IDX);
m_rightFrontMotor.config_kF(DriveConstants.DRIVE_SLOT_IDX, m_gains.kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kP(DriveConstants.DRIVE_SLOT_IDX, m_gains.kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kI(DriveConstants.DRIVE_SLOT_IDX, m_gains.kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kD(DriveConstants.DRIVE_SLOT_IDX, m_gains.kD, DriveConstants.DRIVE_TIMEOUT_MS);
}
/**
* Add your docs here.
*/