Team4388/RiseOfRidgebotics2020
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PID work

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This commit is contained in:
Keenan D. Buckley
2020-01-16 17:56:18 -07:00
parent aa1fbe2e75
commit 69b28c73b3
3 changed files with 20 additions and 14 deletions
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src/main/java/frc4388/robot/Constants.java
+1 -1
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@@ -29,7 +29,7 @@ public final class Constants {
public static final int DRIVE_SLOT_IDX = 0;
public static final int DRIVE_PID_LOOP_IDX = 0;
public static final int DRIVE_TIMEOUT_MS = 30;
public static final Gains DRIVE_GAINS = new Gains(10.0, 0.0, 0.0, 0.2, 0, 1.0);
public static final Gains DRIVE_GAINS = new Gains(0.2, 0.0, 0.0, 0.2, 0, 1.0);
public static final double ENCODER_TICKS_PER_REV = 2048;
}
src/main/java/frc4388/robot/RobotContainer.java
+2 -2
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@@ -62,7 +62,7 @@ public class RobotContainer {
/* Driver Buttons */
// test command to spin the robot while pressing A on the driver controller
new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
.whileHeld(() -> m_robotDrive.driveWithInput(0, 1));
.whileHeld(() -> m_robotDrive.driveWithInput(0, 1), m_robotDrive);
/* Operator Buttons */
// activates "Lit Mode"
@@ -72,7 +72,7 @@ public class RobotContainer {
/* PID Test Command */
new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
.whenPressed(() -> m_robotDrive.goToTargetPos());
.whileHeld(() -> m_robotDrive.goToTargetPos(), m_robotDrive);
}
/**
src/main/java/frc4388/robot/subsystems/Drive.java
+17 -11
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@@ -12,6 +12,7 @@ import com.ctre.phoenix.motorcontrol.FeedbackDevice;
import com.ctre.phoenix.motorcontrol.InvertType;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.StatusFrameEnhanced;
import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import com.ctre.phoenix.sensors.PigeonIMU;
@@ -68,8 +69,8 @@ public class Drive extends SubsystemBase {
m_rightBackMotor.setInverted(InvertType.FollowMaster);
/* Motor Encoders */
m_leftFrontMotor.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, DriveConstants.DRIVE_PID_LOOP_IDX, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, DriveConstants.DRIVE_PID_LOOP_IDX, DriveConstants.DRIVE_TIMEOUT_MS);
//m_leftFrontMotor.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, DriveConstants.DRIVE_PID_LOOP_IDX, DriveConstants.DRIVE_TIMEOUT_MS);
//m_rightFrontMotor.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, DriveConstants.DRIVE_PID_LOOP_IDX, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftFrontMotor.setStatusFramePeriod(StatusFrameEnhanced.Status_10_MotionMagic, 10, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.setStatusFramePeriod(StatusFrameEnhanced.Status_10_MotionMagic, 10, DriveConstants.DRIVE_TIMEOUT_MS);
@@ -107,8 +108,10 @@ public class Drive extends SubsystemBase {
SmartDashboard.putNumber("Pigeon Pitch", getGyroPitch());
SmartDashboard.putNumber("Pigeon Roll", getGyroRoll());
SmartDashboard.putNumber("Left Motor Velocity Raw", m_leftFrontMotor.getSelectedSensorVelocity());
SmartDashboard.putNumber("Left Motor Velocity Raw", m_leftFrontMotor.getSelectedSensorVelocity(0));
SmartDashboard.putNumber("Right Motor Velocity Raw", m_rightFrontMotor.getSelectedSensorVelocity());
SmartDashboard.putNumber("Left Motor Position Raw", m_leftFrontMotor.getSelectedSensorPosition(0));
SmartDashboard.putNumber("Right Motor Position Raw", m_rightFrontMotor.getSelectedSensorPosition());
SmartDashboard.putNumber("P Value Drive", DriveConstants.DRIVE_GAINS.kP);
SmartDashboard.putNumber("I Value Drive", DriveConstants.DRIVE_GAINS.kI);
@@ -125,12 +128,14 @@ public class Drive extends SubsystemBase {
@Override
public void periodic() {
try {
SmartDashboard.getNumber("Pigeon Yaw", getGyroYaw());
SmartDashboard.getNumber("Pigeon Pitch", getGyroPitch());
SmartDashboard.getNumber("Pigeon Roll", getGyroRoll());
SmartDashboard.putNumber("Pigeon Yaw", getGyroYaw());
SmartDashboard.putNumber("Pigeon Pitch", getGyroPitch());
SmartDashboard.putNumber("Pigeon Roll", getGyroRoll());
SmartDashboard.getNumber("Left Motor Velocity Raw", m_leftFrontMotor.getSelectedSensorVelocity());
SmartDashboard.getNumber("Right Motor Velocity Raw", m_rightFrontMotor.getSelectedSensorVelocity());
SmartDashboard.putNumber("Left Motor Velocity Raw", m_leftFrontMotor.getSelectedSensorVelocity(0));
SmartDashboard.putNumber("Right Motor Velocity Raw", m_rightFrontMotor.getSelectedSensorVelocity());
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);
@@ -188,9 +193,10 @@ public class Drive extends SubsystemBase {
// Motion Magic Testing
public void goToTargetPos()
{
double targetPos = XboxController.RIGHT_Y_AXIS * DriveConstants.ENCODER_TICKS_PER_REV * 10.0;
//double targetPos = XboxController.RIGHT_Y_AXIS * DriveConstants.ENCODER_TICKS_PER_REV * 10.0;
double targetPos = 1000;
m_leftFrontMotor.set(ControlMode.MotionMagic, targetPos);
m_rightFrontMotor.follow(m_leftFrontMotor);
m_leftFrontMotor.set(TalonFXControlMode.Velocity, targetPos);
m_rightFrontMotor.set(TalonFXControlMode.Velocity, -targetPos);
}
}