Team4388/RiseOfRidgebotics2020
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Switched All PIDs to High Gear

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Motion Magic and Position need testing.
This commit is contained in:
Aarav Shah
2020-03-01 13:34:54 -07:00
parent 26a208524e
commit 92df6a3d5f
3 changed files with 14 additions and 4 deletions
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src/main/java/frc4388/robot/Constants.java
+1 -1
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@@ -58,7 +58,7 @@ public final class Constants {
public static final int DRIVE_CRUISE_VELOCITY = 30000;
public static final int DRIVE_ACCELERATION = 23000;
public static final Gains DRIVE_DISTANCE_GAINS_HIGH = new Gains(0.0, 0.0, 0.0, 0.0, 0, 0.5);
public static final Gains DRIVE_DISTANCE_GAINS_HIGH = new Gains(0.1, 0.0, 0.0, 0.0, 0, 0.5);
public static final Gains DRIVE_VELOCITY_GAINS_HIGH = new Gains(0.1, 0.0, 0.0, 0.0, 0, 1.0);
public static final Gains DRIVE_TURNING_GAINS_HIGH = new Gains(0.2, 0.0, 0.0, 0.0, 0, 0.55);
public static final Gains DRIVE_MOTION_MAGIC_GAINS_HIGH = new Gains(0.1, 0.0, 0.0, 0.0, 0, 1.0);
src/main/java/frc4388/robot/RobotContainer.java
+1 -1
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@@ -131,7 +131,7 @@ public class RobotContainer {
// X driver test button
new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
.whenPressed(new DriveStraightToPositionPID(m_robotDrive, 60));
.whenPressed(new DriveStraightToPositionPID(m_robotDrive, m_robotPneumatics, 60));
/* Driver Buttons */
// sets solenoids into high gear
src/main/java/frc4388/robot/commands/DriveStraightToPositionPID.java
+12 -2
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@@ -11,9 +11,11 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.Constants.DriveConstants;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.Pneumatics;
public class DriveStraightToPositionPID extends CommandBase {
Drive m_drive;
Pneumatics m_pneumatics;
double m_targetPosIn;
double m_targetPosOut;
double m_targetGyro;
@@ -24,10 +26,18 @@ public class DriveStraightToPositionPID extends CommandBase {
* @param subsystem drive subsystem
* @param targetPos distance to travel in inches
*/
public DriveStraightToPositionPID(Drive subsystem, double targetPos) {
public DriveStraightToPositionPID(Drive subsystem, Pneumatics subsystem2, double targetPos) {
// Use addRequirements() here to declare subsystem dependencies.
m_drive = subsystem;
m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_LOW * 2;
try {
if (m_pneumatics.m_isSpeedShiftHigh) {
m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_HIGH * 2;
} else {
m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_LOW * 2;
}
} catch (Exception e) {
System.err.println("Error In Motion Magic Switch Gains.");
}
addRequirements(m_drive);
//SmartDashboard.putNumber("Distance Target Inches", targetPos);
}