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Spin up before engaging shooter pid

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aarav18
2020-01-21 16:45:29 -07:00
parent db5c15a452
commit 7f96cecc4d
4 changed files with 11 additions and 6 deletions
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src/main/java/frc4388/robot/Constants.java
+2 -2
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@@ -46,7 +46,7 @@ public final class Constants {
public static final int ELEVATOR_SLOT_IDX = 0;
public static final int ELEVATOR_PID_LOOP_IDX = 1;
public static final int ELEVATOR_TIMEOUT_MS = 30;
public static final Gains ELEVATOR_GAINS = new Gains(0.2, 0.0, 0.0, 0.2, 0, 1.0);
public static final Gains ELEVATOR_GAINS = new Gains(0.1, 0.0, 0.0, 0.2, 0, 1.0);
public static final double ENCODER_TICKS_PER_REV = 2048;
}
@@ -58,7 +58,7 @@ 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(0.2, 0.0, 0.0, 0.2, 0, 1.0);
public static final Gains SHOOTER_GAINS = new Gains(0.1, 0.0, 0.0, 0.0, 0, 1.0);
public static final double ENCODER_TICKS_PER_REV = 2048;
}
src/main/java/frc4388/robot/RobotContainer.java
+1 -1
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@@ -101,7 +101,7 @@ public class RobotContainer {
.whenPressed(new DriveAtVelocityPID(m_robotDrive, 2000));
new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
.whileHeld(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(2300), m_robotShooter));
.whileHeld(new ShooterVelocityControlPID(m_robotShooter, 2300));
new JoystickButton(getOperatorJoystick(), XboxController.LEFT_BUMPER_BUTTON)
.whenPressed(new DistanceElevatorPID(m_robotElevator, 20000));
src/main/java/frc4388/robot/commands/ShooterVelocityControlPID.java
+5 -1
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@@ -31,7 +31,11 @@ public class ShooterVelocityControlPID extends CommandBase {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
m_shooter.runDrumShooterVelocityPID(m_targetVel);
if (m_shooter.m_shooterFalcon.getActiveTrajectoryVelocity() < 1000){
m_shooter.runDrumShooter(0.5);
} else {
m_shooter.runDrumShooterVelocityPID(m_targetVel);
}
}
// Called once the command ends or is interrupted.
src/main/java/frc4388/robot/subsystems/Shooter.java
+3 -2
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@@ -43,13 +43,14 @@ public class Shooter extends SubsystemBase {
m_shooterFalcon.configClosedLoopPeriod(0, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalcon.configClosedLoopPeriod(1, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS);
SmartDashboard.putNumber("Shooter Velocity", m_targetVel);
SmartDashboard.putNumber("Shooter Velocity Target", m_targetVel);
}
@Override
public void periodic() {
// This method will be called once per scheduler run
m_targetVel = SmartDashboard.getNumber("Shooter Velocity", m_targetVel);
m_targetVel = SmartDashboard.getNumber("Shooter Velocity Target", m_targetVel);
SmartDashboard.putNumber("Shooter Velocity", m_shooterFalcon.getSelectedSensorVelocity()*600/ShooterConstants.ENCODER_TICKS_PER_REV);
}
/**