Team4388/RiseOfRidgebotics2020
1
0
Fork 0
mirror of https://github.com/Team4388/RiseOfRidgebotics2020.git synced 2026-06-09 08:48:01 -06:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'add-storage' of https://github.com/Team4388/RiseOfRidgebotics2020 into add-storage

Browse Source
This commit is contained in:
ryan123rudder
2020-02-21 20:42:45 -07:00
parent 629046c032 47b5cdc200
commit 815cc6dcbc
5 changed files with 64 additions and 46 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/subsystems/Shooter.java
+22 -1
View File
@@ -48,6 +48,9 @@ public class Shooter extends SubsystemBase {
double velP;
double input;
public boolean velReached;
public double m_fireVel;
public double m_fireAngle;
/*
* Creates a new Shooter subsystem.
@@ -79,6 +82,13 @@ public class Shooter extends SubsystemBase {
SmartDashboard.putNumber("Shooter Velocity", m_shooterFalcon.getSelectedSensorVelocity()*600/ShooterConstants.ENCODER_TICKS_PER_REV);
}
public double addFireVel() {
return m_fireVel;
}
public double addFireAngle() {
return m_fireAngle;
}
/**
* Runs drum shooter motor.
* @param speed Speed to set the motor at
@@ -105,15 +115,26 @@ public class Shooter extends SubsystemBase {
public void runDrumShooterVelocityPID(double targetVel, double actualVel) {
velP = actualVel/targetVel; //Percent of target
double runSpeed = actualVel + (12000*velP); //Ramp up equation
//if (runSpeed > targetVel) {runSpeed = targetVel;}
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);
}
else{ //PID Based on targetVel
m_shooterFalcon.set(TalonFXControlMode.Velocity, targetVel); //Init PID
}
//Tells wether the target velocity has been reached
double upperBound = targetVel + 300;
double lowerBound = targetVel - 300;
if (actualVel < upperBound && actualVel > lowerBound)
{
velReached = true;
}
else{
velReached = false;
}
}
src/main/java/frc4388/robot/subsystems/Storage.java
+7 -7
View File
@@ -36,7 +36,6 @@ public class Storage extends SubsystemBase {
Intake m_intake;
public boolean botReached;
/**
* Creates a new Storage.
@@ -75,16 +74,17 @@ public class Storage extends SubsystemBase {
/* Storage PID Control */
public void runStoragePositionPID(double targetPos){
// Set PID Coefficients
m_storagePIDController.setP(storageGains.m_kP);
m_storagePIDController.setI(storageGains.m_kI);
m_storagePIDController.setD(storageGains.m_kD);
m_storagePIDController.setIZone(storageGains.m_kIzone);
m_storagePIDController.setFF(storageGains.m_kF);
m_storagePIDController.setOutputRange(StorageConstants.STORAGE_MIN_OUTPUT, storageGains.m_kPeakOutput);
m_storagePIDController.setP(m_storageGains.m_kP);
m_storagePIDController.setI(m_storageGains.m_kI);
m_storagePIDController.setD(m_storageGains.m_kD);
m_storagePIDController.setIZone(m_storageGains.m_kIzone);
m_storagePIDController.setFF(m_storageGains.m_kF);
m_storagePIDController.setOutputRange(StorageConstants.storkminOutput, m_storageGains.m_kmaxOutput);
m_storagePIDController.setReference(targetPos, ControlType.kPosition);
}
public double getEncoderPos(){
return m_encoder.getPosition();
}