Team4388/RiseOfRidgebotics2020
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mayabartels
2020-02-13 19:12:08 -08:00
parent 29cdf74ea1
commit 6f8c90751c
3 changed files with 24 additions and 19 deletions
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src/main/java/frc4388/robot/Constants.java
+3 -1
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@@ -80,8 +80,10 @@ public final class Constants {
public static final int SHOOTER_SLOT_IDX = 0;
public static final int SHOOTER_PID_LOOP_IDX = 1;
public static final int SHOOTER_TIMEOUT_MS = 30;
public static final Gains SHOOTER_GAINS = new Gains(0.4, 0.0005, 13, 0.05, 0, 1.0);
public static final Gains DRUM_SHOOTER_GAINS = new Gains(0.4, 0.0005, 13, 0.05, 0, 1.0);
public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.2, 0.0, 0.0, 0.0, 0, 1.0);
public static final double SHOOTER_TURRET_MIN = -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;
src/main/java/frc4388/robot/RobotContainer.java
+6 -3
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@@ -137,11 +137,14 @@ public class RobotContainer {
/* TEST shooter rotate PIDs */
new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON)
.whileHeld(new RunCommand(() -> m_robotShooter.runAngleAdjustPID(360, 0.2, 0.0, 0.0, 0.0, 0.0, 1, -1)));
.whileHeld(new RunCommand(() -> m_robotShooter.runAngleAdjustPID(360)));
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)));
.whileHeld(new RunCommand(() -> m_robotShooter.runshooterRotatePID(360)));
new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
.whileHeld(new RunCommand(() -> m_robotShooter.runshooterRotatePID(720, 0.2, 0.0, 0.0, 0.0, 0.0, 1, -1)));
.whileHeld(new RunCommand(() -> m_robotShooter.runshooterRotatePID(720)));
/* TEST for both commands above */
}
src/main/java/frc4388/robot/subsystems/Shooter.java
+15 -15
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@@ -27,7 +27,7 @@ public class Shooter extends SubsystemBase {
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;
public static Gains m_shooterGains = ShooterConstants.DRUM_SHOOTER_GAINS;
// Configure PID Controllers
CANPIDController m_angleAdjustPIDController = m_angleAdjustMotor.getPIDController();
@@ -106,15 +106,15 @@ public class Shooter extends SubsystemBase {
}
/* Angle Adjustment PID Control */
public void runAngleAdjustPID(double targetAngle, double kP, double kI, double kD, double kIz, double kF, double kmaxOutput, double kminOutput)
public void runAngleAdjustPID(double targetAngle)
{
// 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);
m_angleAdjustPIDController.setP(m_shooterGains.m_kP);
m_angleAdjustPIDController.setI(m_shooterGains.m_kI);
m_angleAdjustPIDController.setD(m_shooterGains.m_kD);
m_angleAdjustPIDController.setIZone(m_shooterGains.m_kIzone);
m_angleAdjustPIDController.setFF(m_shooterGains.m_kF);
m_angleAdjustPIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterGains.m_kPeakOutput);
// Convert input angle in degrees to rotations of the motor
targetAngle = targetAngle/ShooterConstants.DEGREES_PER_ROT;
@@ -123,15 +123,15 @@ public class Shooter extends SubsystemBase {
}
/* Rotate Shooter PID Control */
public void runshooterRotatePID(double targetAngle, double kP, double kI, double kD, double kIz, double kF, double kmaxOutput, double kminOutput)
public void runshooterRotatePID(double targetAngle)
{
// 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);
m_shooterRotatePIDController.setP(m_shooterGains.m_kP);
m_shooterRotatePIDController.setI(m_shooterGains.m_kI);
m_shooterRotatePIDController.setD(m_shooterGains.m_kD);
m_shooterRotatePIDController.setFF(m_shooterGains.m_kF);
m_shooterRotatePIDController.setIZone(m_shooterGains.m_kIzone);
m_shooterRotatePIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterGains.m_kPeakOutput);
// Convert input angle in degrees to rotations of the motor
targetAngle = targetAngle/ShooterConstants.DEGREES_PER_ROT;