mirror of
https://github.com/Team4388/RiseOfRidgebotics2020.git
synced 2026-06-09 08:48:01 -06:00
work done on PID
in better state than last time but still bad
This commit is contained in:
Keenan D. Buckley
@@ -29,8 +29,8 @@ public final class Constants {
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/* PID Constants Drive*/
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public static final int DRIVE_TIMEOUT_MS = 30;
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public static final Gains DRIVE_DISTANCE_GAINS = new Gains(0.2, 0.0, 0.0, 0.0, 0, 1.0);
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public static final Gains DRIVE_VELOCITY_GAINS = new Gains(0.1, 0.0, 0.0, 0.0, 0, 1.0);
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public static final Gains DRIVE_TURNING_GAINS = new Gains(0.2, 0.0, 0.0, 0.0, 0, 1.0);
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public static final Gains DRIVE_VELOCITY_GAINS = new Gains(0.1, 0.0, 0.0, 0.0, 0, 0.3);
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public static final Gains DRIVE_TURNING_GAINS = new Gains(0.01, 0.0, 0.0, 0.0, 0, 0.3);
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public static final Gains DRIVE_MOTION_MAGIC_GAINS = new Gains(0.2, 0.0, 0.0, 0.0, 0, 1.0);
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public static final int DRIVE_CRUISE_VELOCITY = 15000;
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public static final int DRIVE_ACCELERATION = 6000;
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@@ -52,7 +52,7 @@ public class RobotContainer {
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/* Default Commands */
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// drives the robot with a two-axis input from the driver controller
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//m_robotDrive.setDefaultCommand(new DriveWithJoystick(m_robotDrive, getDriverController()));
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m_robotDrive.setDefaultCommand(new DriveWithJoystick(m_robotDrive, getDriverController()));
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// drives motor with input from triggers on the opperator controller
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m_robotIntake.setDefaultCommand(new RunIntakeWithTriggers(m_robotIntake, getOperatorController()));
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// continually sends updates to the Blinkin LED controller to keep the lights on
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@@ -79,7 +79,7 @@ public class RobotContainer {
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/* PID Test Command */
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new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
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.whileHeld(new DriveAtVelocityPID(m_robotDrive, 50));
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.whileHeld(new DriveAtVelocityPID(m_robotDrive, 20));
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new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
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.whenPressed(new InstantCommand(() -> m_robotDrive.resetGyroYaw(), m_robotDrive));
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@@ -16,6 +16,7 @@ import frc4388.robot.subsystems.Drive;
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public class DriveAtVelocityPID extends CommandBase {
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Drive m_drive;
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double m_targetGyro;
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double m_targetVel;
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double m_leftTarget;
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double m_rightTarget;
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@@ -38,15 +39,18 @@ public class DriveAtVelocityPID extends CommandBase {
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public void initialize() {
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m_leftTarget = m_targetVel;
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m_rightTarget = m_targetVel;
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m_targetGyro = m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN);
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}
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// Called every time the scheduler runs while the command is scheduled.
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@Override
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public void execute() {
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m_drive.runVelocityPID(m_targetVel);
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m_drive.runVelocityPID(m_targetVel, 0);
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SmartDashboard.putNumber("Input Target Velocity", m_copiedTargetVel);
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SmartDashboard.putNumber("Output Target Velocity", m_targetVel);
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SmartDashboard.putNumber("Target Angle", m_targetGyro);
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//m_drive.runVelocityPID(m_leftTarget);
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//m_drive.m_leftFrontMotor.follow(m_drive.m_rightFrontMotor, FollowerType.PercentOutput);
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}
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@@ -70,45 +70,58 @@ public class Drive extends SubsystemBase {
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setDriveTrainNeutralMode(NeutralMode.Brake);
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/* Setup Sensors for TalonFXs */
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m_leftFrontMotor.setSelectedSensorPosition(0, DriveConstants.PID_PRIMARY, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.setSelectedSensorPosition(0, DriveConstants.PID_PRIMARY, DriveConstants.DRIVE_TIMEOUT_MS);
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/* Configure the left Talon's selected sensor as local QuadEncoder */
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m_leftFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.IntegratedSensor, // Local Feedback Source
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DriveConstants.PID_PRIMARY, // PID Index for Source [0, 1]
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DriveConstants.DRIVE_TIMEOUT_MS); // Configuration Timeout
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m_rightFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.IntegratedSensor, // Local Feedback Source
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/*m_rightFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.IntegratedSensor, // Local Feedback Source
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DriveConstants.PID_PRIMARY, // PID Index for Source [0, 1]
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DriveConstants.DRIVE_TIMEOUT_MS); // Configuration Timeout
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DriveConstants.DRIVE_TIMEOUT_MS);*/ // Configuration Timeout
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/* Configure the Remote Talon's selected sensor as a remote sensor for the right Talon */
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/*m_rightFrontMotor.configRemoteFeedbackFilter( m_leftFrontMotor.getDeviceID(), // Device ID of Source
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RemoteSensorSource.TalonSRX_SelectedSensor, // Remote Feedback Source
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m_rightFrontMotor.configRemoteFeedbackFilter( m_leftFrontMotor.getDeviceID(), // Device ID of Source
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RemoteSensorSource.TalonSRX_SelectedSensor,
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DriveConstants.REMOTE_0, // Source number [0, 1]
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DriveConstants.DRIVE_TIMEOUT_MS); */ // Configuration Timeout
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DriveConstants.DRIVE_TIMEOUT_MS); // Configuration Timeout
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/* Configure the Pigeon IMU to the other Remote Slot available on the right Talon */
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/*m_rightFrontMotor.configRemoteFeedbackFilter( m_pigeon.getDeviceID(),
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m_rightFrontMotor.configRemoteFeedbackFilter( m_pigeon.getDeviceID(),
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RemoteSensorSource.Pigeon_Yaw,
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DriveConstants.REMOTE_1,
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DriveConstants.DRIVE_TIMEOUT_MS);*/
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DriveConstants.DRIVE_TIMEOUT_MS);
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/* Setup Sum signal to be used for Distance */
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//m_rightFrontMotor.configSensorTerm(SensorTerm.Sum0, FeedbackDevice.RemoteSensor0, DriveConstants.DRIVE_TIMEOUT_MS);
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//m_rightFrontMotor.configSensorTerm(SensorTerm.Sum1, FeedbackDevice.IntegratedSensor, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configSensorTerm(SensorTerm.Sum0, FeedbackDevice.RemoteSensor0, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configSensorTerm(SensorTerm.Sum1, FeedbackDevice.IntegratedSensor, DriveConstants.DRIVE_TIMEOUT_MS);
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/* Configure Sum [Sum of both QuadEncoders] to be used for Primary PID Index */
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//m_rightFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.SensorSum,
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// DriveConstants.PID_PRIMARY,
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// DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.SensorSum,
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DriveConstants.PID_PRIMARY,
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DriveConstants.DRIVE_TIMEOUT_MS);
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/* Scale Feedback by 0.5 to half the sum of Distance */
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//m_rightFrontMotor.configSelectedFeedbackCoefficient( 1.0, // Coefficient
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// DriveConstants.PID_PRIMARY, // PID Slot of Source
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// DriveConstants.DRIVE_TIMEOUT_MS); // Configuration Timeout
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m_rightFrontMotor.configSelectedFeedbackCoefficient( 0.5, // Coefficient
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DriveConstants.PID_PRIMARY, // PID Slot of Source
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DriveConstants.DRIVE_TIMEOUT_MS); // Configuration Timeout
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m_rightFrontMotor.configSensorTerm(SensorTerm.Diff0, FeedbackDevice.RemoteSensor0, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configSensorTerm(SensorTerm.Diff1, FeedbackDevice.IntegratedSensor, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.SensorDifference,
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DriveConstants.PID_TURN,
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DriveConstants.DRIVE_TIMEOUT_MS);
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/*m_rightFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.RemoteSensor1,
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DriveConstants.PID_TURN,
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DriveConstants.DRIVE_TIMEOUT_MS);*/
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/* Don't scale the Feedback Sensor (use 1 for 1:1 ratio) */
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//m_rightFrontMotor.configSelectedFeedbackCoefficient( 1,
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// DriveConstants.PID_TURN,
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// DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configSelectedFeedbackCoefficient( 1,
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DriveConstants.PID_TURN,
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DriveConstants.DRIVE_TIMEOUT_MS);
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/* Scale the Feedback Sensor using a coefficient */
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//m_leftFrontMotor.configSelectedFeedbackCoefficient( 1.0,
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@@ -120,24 +133,21 @@ public class Drive extends SubsystemBase {
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m_rightFrontMotor.setInverted(false);
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m_leftBackMotor.setInverted(InvertType.FollowMaster);
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m_rightBackMotor.setInverted(InvertType.FollowMaster);
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m_rightFrontMotor.setSensorPhase(true);
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m_rightFrontMotor.setSensorPhase(false);
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m_leftFrontMotor.setSensorPhase(false);
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/*m_rightBackMotor.setSensorPhase(true);
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m_leftBackMotor.setSensorPhase(true);*/
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/* Set status frame periods to ensure we don't have stale data */
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//m_rightFrontMotor.setStatusFramePeriod(StatusFrame.Status_12_Feedback1, 20, DriveConstants.DRIVE_TIMEOUT_MS);
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//m_rightFrontMotor.setStatusFramePeriod(StatusFrame.Status_13_Base_PIDF0, 20, DriveConstants.DRIVE_TIMEOUT_MS);
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//m_rightFrontMotor.setStatusFramePeriod(StatusFrame.Status_14_Turn_PIDF1, 20, DriveConstants.DRIVE_TIMEOUT_MS);
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//m_leftFrontMotor.setStatusFramePeriod(StatusFrame.Status_2_Feedback0, 5, DriveConstants.DRIVE_TIMEOUT_MS);
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//m_rightFrontMotor.setStatusFramePeriod(PigeonIMU_StatusFrame.CondStatus_9_SixDeg_YPR, 5, DriveConstants.DRIVE_TIMEOUT_MS);
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/* Set status frame periods to ensure we don't have stale data */
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m_rightFrontMotor.setStatusFramePeriod(StatusFrame.Status_12_Feedback1, 20, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.setStatusFramePeriod(StatusFrame.Status_13_Base_PIDF0, 20, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.setStatusFramePeriod(StatusFrame.Status_14_Turn_PIDF1, 20, DriveConstants.DRIVE_TIMEOUT_MS);
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m_leftFrontMotor.setStatusFramePeriod(StatusFrame.Status_2_Feedback0, 5, DriveConstants.DRIVE_TIMEOUT_MS);
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m_pigeon.setStatusFramePeriod(PigeonIMU_StatusFrame.CondStatus_9_SixDeg_YPR, 5, DriveConstants.DRIVE_TIMEOUT_MS);
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/* deadbands */
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m_leftBackMotor.configNeutralDeadband(0.0, DriveConstants.DRIVE_TIMEOUT_MS); // DO NOT CHANGE
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m_rightBackMotor.configNeutralDeadband(0.0, DriveConstants.DRIVE_TIMEOUT_MS); //Ensures motors run at the same speed
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m_leftFrontMotor.setSelectedSensorPosition(0, DriveConstants.PID_PRIMARY, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.setSelectedSensorPosition(0, DriveConstants.PID_PRIMARY, DriveConstants.DRIVE_TIMEOUT_MS);
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/* Smart Dashboard Initial Values */
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/* Set up Chooser */
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@@ -187,14 +197,14 @@ public class Drive extends SubsystemBase {
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*/
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int closedLoopTimeMs = 1;
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m_rightFrontMotor.configClosedLoopPeriod(DriveConstants.PID_PRIMARY, closedLoopTimeMs, DriveConstants.DRIVE_TIMEOUT_MS);
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//m_rightFrontMotor.configClosedLoopPeriod(DriveConstants.PID_TURN, closedLoopTimeMs, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configClosedLoopPeriod(DriveConstants.PID_TURN, closedLoopTimeMs, DriveConstants.DRIVE_TIMEOUT_MS);
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/**
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* configAuxPIDPolarity(boolean invert, int timeoutMs)
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* false means talon's local output is PID0 + PID1, and other side Talon is PID0 - PID1
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* true means talon's local output is PID0 - PID1, and other side Talon is PID0 + PID1
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*/
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m_rightFrontMotor.configAuxPIDPolarity(true, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configAuxPIDPolarity(false, DriveConstants.DRIVE_TIMEOUT_MS);
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}
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Gains gainsOld;
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@@ -210,6 +220,15 @@ public class Drive extends SubsystemBase {
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SmartDashboard.putNumber("Left Motor Position Raw", m_leftFrontMotor.getSelectedSensorPosition());
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SmartDashboard.putNumber("Right Motor Position Raw", m_rightFrontMotor.getSelectedSensorPosition(0));
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SmartDashboard.putNumber("Right Motor Output", m_rightFrontMotor.getMotorOutputPercent());
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SmartDashboard.putNumber("Left Motor Output", m_leftFrontMotor.getMotorOutputPercent());
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SmartDashboard.putNumber("PID 0 Error", m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_PRIMARY));
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SmartDashboard.putNumber("PID 1 Error", m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_TURN));
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SmartDashboard.putNumber("PID 0 Target", m_rightFrontMotor.getClosedLoopTarget(DriveConstants.PID_PRIMARY));
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SmartDashboard.putNumber("PID 1 Target", m_rightFrontMotor.getClosedLoopTarget(DriveConstants.PID_TURN));
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SmartDashboard.putNumber("PID 0 Pos", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_PRIMARY));
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SmartDashboard.putNumber("PID 1 Pos", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN));
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Gains gains = m_chooser.getSelected();
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if (gains.equals(gainsOld)) {
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SmartDashboard.putNumber("P Value Drive", gains.kP);
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@@ -262,6 +281,7 @@ public class Drive extends SubsystemBase {
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m_rightFrontMotor.config_kP(DriveConstants.SLOT_VELOCITY, gains.kP, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kI(DriveConstants.SLOT_VELOCITY, gains.kI, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kD(DriveConstants.SLOT_VELOCITY, gains.kD, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_VELOCITY, gains.kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
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}
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/* Turning */
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if (slot.equals("Turning PID")) {
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@@ -270,6 +290,7 @@ public class Drive extends SubsystemBase {
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m_rightFrontMotor.config_kP(DriveConstants.SLOT_TURNING, gains.kP, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kI(DriveConstants.SLOT_TURNING, gains.kI, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kD(DriveConstants.SLOT_TURNING, gains.kD, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_TURNING, gains.kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
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}
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/* Motion Magic */
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@@ -289,6 +310,7 @@ public class Drive extends SubsystemBase {
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* Add your docs here.
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*/
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public void driveWithInput(double move, double steer){
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m_leftFrontMotor.setInverted(false);
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m_driveTrain.arcadeDrive(move, steer);
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}
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@@ -297,13 +319,14 @@ public class Drive extends SubsystemBase {
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talon.set(TalonFXControlMode.Position, targetPos);
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}
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public void runVelocityPID(double targetVel) {
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public void runVelocityPID(double targetVel, double targetGyro) {
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m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
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//m_leftFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
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//m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
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m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
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//m_leftFrontMotor.set(TalonFXControlMode.Velocity, targetVelLeft, DemandType.AuxPID, 0);
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//m_leftFrontMotor.setInverted(true);
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m_rightFrontMotor.set(TalonFXControlMode.Velocity, targetVel, DemandType.AuxPID, targetGyro);
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m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
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m_rightFrontMotor.set(TalonFXControlMode.Velocity, targetVel, DemandType.AuxPID, 0);
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//m_leftFrontMotor.set(TalonFXControlMode.Velocity, targetVel, DemandType.AuxPID, 0);
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}
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@@ -324,6 +347,8 @@ public class Drive extends SubsystemBase {
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double[] ypr = new double[3];
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m_pigeon.getYawPitchRoll(ypr);
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return ypr[0];
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//m_pigeon.(ypr);
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//return ypr[0];
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}
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public double getGyroPitch() {
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