Team4388/RiseOfRidgebotics2020
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Fixing the thing

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ryan123rudder
2020-02-25 17:44:59 -07:00
parent 371cc7ba4a
commit 716dc83480
6 changed files with 28 additions and 18 deletions
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src/main/java/frc4388/robot/Constants.java
+2 -1
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@@ -90,7 +90,8 @@ 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 DRUM_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 DRUM_SHOOTER_GAINS = new Gains(0.0, 0.0, 0, 0.0453, 0, 1.0);
public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.0, 0.0, 0.0, 0.0, 0, 1.0);
public static final Gains SHOOTER_ANGLE_GAINS = new Gains(0.0, 0.0, 0.0, 0.0, 0, 1.0);
public static final double SHOOTER_TURRET_MIN = -1.0;
src/main/java/frc4388/robot/RobotContainer.java
+15 -4
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@@ -48,7 +48,9 @@ import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.ShooterAim;
import frc4388.robot.subsystems.Climber;
import frc4388.robot.commands.RunLevelerWithJoystick;
import frc4388.robot.commands.ShootFireGroup;
import frc4388.robot.commands.ShootFullGroup;
import frc4388.robot.commands.ShootPrepGroup;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.Intake;
import frc4388.robot.subsystems.LED;
@@ -104,10 +106,11 @@ public class RobotContainer {
// continually sends updates to the Blinkin LED controller to keep the lights on
m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
// runs the drum shooter in idle mode
m_robotShooter.setDefaultCommand(new RunCommand(
() -> m_robotShooterAim.runShooterWithInput(m_operatorXbox.getLeftXAxis()), m_robotShooter));
m_robotShooterAim.setDefaultCommand(new RunCommand(() -> m_robotShooterAim.runShooterWithInput(m_operatorXbox.getLeftXAxis()), m_robotShooterAim));
// drives the leveler with an axis input from the driver controller
m_robotLeveler.setDefaultCommand(new RunLevelerWithJoystick(m_robotLeveler, getDriverController()));
// moves the drum not
m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runDrumShooter(0), m_robotShooter));
}
@@ -137,8 +140,10 @@ public class RobotContainer {
// shoots one ball
new JoystickButton(getOperatorJoystick(), XboxController.LEFT_BUMPER_BUTTON)
.whenPressed(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotStorage), false);
.whenPressed(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotStorage), false)
.whenReleased(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(0, m_robotShooter.m_shooterFalcon.getSelectedSensorVelocity())));
//.whenReleased(new InstantCommand(() -> m_robotShooterAim.runShooterWithInput(0), m_robotShooterAim));
// extends or retracts the extender
new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
.whenPressed(new RunExtenderOutIn(m_robotIntake));
@@ -160,6 +165,12 @@ public class RobotContainer {
//Runs storage to outtake
new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_TRIGGER_AXIS)
.whileHeld(new StorageOutake(m_robotStorage));
new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON)
.whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotStorage));
new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
.whileHeld(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(13000, m_robotShooter.m_shooterFalcon.getSelectedSensorVelocity())));
}
/**
src/main/java/frc4388/robot/commands/ShootFireGroup.java
+1 -1
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@@ -25,7 +25,7 @@ public class ShootFireGroup extends ParallelRaceGroup {
*/
public ShootFireGroup(Shooter m_shooter, ShooterAim m_shooterAim, Storage m_storage) {
addCommands(
new RunCommand(() -> m_shooter.runDrumShooterVelocityPID(m_shooter.addFireVel(), m_shooter.m_shooterFalcon.getSelectedSensorVelocity())),
new RunCommand(() -> m_shooter.runDrumShooterVelocityPID(7000, m_shooter.m_shooterFalcon.getSelectedSensorVelocity())),
new RunCommand(() -> m_shooter.runAngleAdjustPID(m_shooter.addFireAngle())),
new HoldTarget(m_shooter, m_shooterAim)
//new StorageRun(m_storage)
src/main/java/frc4388/robot/commands/ShootPrepGroup.java
+1 -1
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@@ -26,7 +26,7 @@ public class ShootPrepGroup extends ParallelCommandGroup {
public ShootPrepGroup(Shooter m_shooter, ShooterAim m_shooterAim, Storage m_storage) {
addCommands(
new TrackTarget(m_shooter, m_shooterAim),
new ShooterVelocityControlPID(m_shooter, m_shooter.addFireVel())
new ShooterVelocityControlPID(m_shooter)
//new StoragePrepAim(m_storage)
);
}
src/main/java/frc4388/robot/commands/ShooterVelocityControlPID.java
+3 -4
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@@ -19,23 +19,22 @@ public class ShooterVelocityControlPID extends CommandBase {
* @param subsystem The Shooter subsytem
* @param targetVel The target velocity
*/
public ShooterVelocityControlPID(Shooter subsystem, double targetVel) {
public ShooterVelocityControlPID(Shooter subsystem) {
m_shooter = subsystem;
m_targetVel = targetVel;
addRequirements(m_shooter);
}
// Called when the command is initially scheduled.
@Override
public void initialize() {
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
m_shooter.runDrumShooterVelocityPID(m_targetVel, m_shooter.m_shooterFalcon.getSelectedSensorVelocity());
m_shooter.runDrumShooterVelocityPID(7000, m_shooter.m_shooterFalcon.getSelectedSensorVelocity());
m_shooter.runAngleAdjustPID(m_shooter.addFireAngle());
m_actualVel = m_shooter.m_shooterFalcon.getSelectedSensorVelocity();
}
// Called once the command ends or is interrupted.
src/main/java/frc4388/robot/subsystems/Shooter.java
+6 -7
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@@ -55,6 +55,7 @@ public class Shooter extends SubsystemBase {
m_shooterFalcon.setNeutralMode(NeutralMode.Coast);
m_shooterFalcon.setInverted(false);
m_angleAdjustMotor.setIdleMode(IdleMode.kBrake);
m_shooterFalcon.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS);
setShooterGains();
m_shooterFalcon.configPeakOutputReverse(0, ShooterConstants.SHOOTER_TIMEOUT_MS);
@@ -101,6 +102,7 @@ public class Shooter extends SubsystemBase {
/* Angle Adjustment PID Control */
public void runAngleAdjustPID(double targetAngle)
{
targetAngle = addFireAngle();
// Set PID Coefficients
m_angleAdjustPIDController.setP(m_angleAdjustGains.m_kP);
m_angleAdjustPIDController.setI(m_angleAdjustGains.m_kI);
@@ -121,17 +123,14 @@ public class Shooter extends SubsystemBase {
* @param targetVel Target velocity to run motor at
*/
public void runDrumShooterVelocityPID(double targetVel, double actualVel) {
velP = actualVel/targetVel; //Percent of target
double runSpeed = actualVel + (12000*velP); //Ramp up equation
SmartDashboard.putNumber("shoot", actualVel);
runSpeed = runSpeed/targetVel; //Convert to percent
if (actualVel < targetVel - 1000){ //PID Based on ramp up amount
m_shooterFalcon.set(TalonFXControlMode.PercentOutput, runSpeed/3);
if (actualVel < targetVel - 1000){
m_shooterFalcon.set(TalonFXControlMode.PercentOutput, 1);//Ramp up
}
else{ //PID Based on targetVel
m_shooterFalcon.set(TalonFXControlMode.Velocity, targetVel/3); //Init PID
m_shooterFalcon.set(TalonFXControlMode.Velocity, targetVel); //Init PID
}
m_shooterFalcon.feed();
}
public void resetGyroAngleAdj(){