Team4388/RiseOfRidgebotics2020
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aarav18
2020-01-31 17:53:33 -07:00
parent 2d14ef3da3 009443b044
commit 9d88aaab05
2 changed files with 14 additions and 16 deletions
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src/main/java/frc4388/robot/Constants.java
+1
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@@ -53,6 +53,7 @@ public final class Constants {
public static final double TICKS_PER_MOTOR_REV = 2048;
public static final double MOTOR_TO_WHEEL_GEAR_RATIO = 12.5;
public static final double WHEEL_DIAMETER_INCHES = 6;
public static final double TICKS_PER_GYRO_REV = 8192;
/* Ratio Calculation */
public static final double TICK_TIME_TO_SECONDS = 0.1;
src/main/java/frc4388/robot/subsystems/Drive.java
+13 -16
View File
@@ -78,9 +78,10 @@ public class Drive extends SubsystemBase {
m_leftFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.IntegratedSensor, // Local Feedback Source
DriveConstants.PID_PRIMARY, // PID Index for Source [0, 1]
DriveConstants.DRIVE_TIMEOUT_MS); // Configuration Timeout
/*m_rightFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.IntegratedSensor, // Local Feedback Source
/*m_rightFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.IntegratedSensor, // Local Feedback Source
DriveConstants.PID_PRIMARY, // PID Index for Source [0, 1]
DriveConstants.DRIVE_TIMEOUT_MS);*/ // Configuration Timeout
DriveConstants.DRIVE_TIMEOUT_MS);*/ // Configuration Timeout
/* Configure the Remote Talon's selected sensor as a remote sensor for the right Talon */
m_rightFrontMotor.configRemoteFeedbackFilter( m_leftFrontMotor.getDeviceID(), // Device ID of Source
@@ -114,10 +115,6 @@ public class Drive extends SubsystemBase {
m_rightFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.RemoteSensor1,
DriveConstants.PID_TURN,
DriveConstants.DRIVE_TIMEOUT_MS);
/*m_rightFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.RemoteSensor1,
DriveConstants.PID_TURN,
DriveConstants.DRIVE_TIMEOUT_MS);*/
/* Don't scale the Feedback Sensor (use 1 for 1:1 ratio) */
m_rightFrontMotor.configSelectedFeedbackCoefficient( 1,
@@ -131,7 +128,8 @@ public class Drive extends SubsystemBase {
/* flip input so forward becomes back, etc */
m_leftFrontMotor.setInverted(false);
m_rightFrontMotor.setInverted(false);
m_rightFrontMotor.setInverted(true);
m_driveTrain.setRightSideInverted(true);
m_leftBackMotor.setInverted(InvertType.FollowMaster);
m_rightBackMotor.setInverted(InvertType.FollowMaster);
@@ -310,7 +308,7 @@ public class Drive extends SubsystemBase {
* Add your docs here.
*/
public void driveWithInput(double move, double steer){
m_rightFrontMotor.setInverted(false);
//m_rightFrontMotor.setInverted(false);
m_driveTrain.arcadeDrive(move, steer);
}
@@ -322,7 +320,7 @@ public class Drive extends SubsystemBase {
public void runVelocityPID(double targetVel, double targetGyro) {
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
m_rightFrontMotor.setInverted(true);
//m_rightFrontMotor.setInverted(true);
m_rightFrontMotor.set(TalonFXControlMode.Velocity, 20000, DemandType.AuxPID, targetGyro);
//m_rightFrontMotor.set(ControlMode.PercentOutput, 0.2);
//m_leftFrontMotor.follow(m_rightFrontMotor);
@@ -337,20 +335,19 @@ public class Drive extends SubsystemBase {
m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
}
/**
* Runs a Turning PID to rotate a to a target angle
* @param targetAngle target angle in degrees
*/
public void runTurningPID(double targetAngle){
//m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
m_rightFrontMotor.set(TalonFXControlMode.Velocity, 0, DemandType.AuxPID, targetAngle);
//m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
//m_rightFrontMotor.set(DemandType.AuxPID, 0);
double targetGyro = (targetAngle/360)*DriveConstants.TICKS_PER_GYRO_REV;
runVelocityPID(0, targetGyro);
}
public double getGyroYaw() {
double[] ypr = new double[3];
m_pigeon.getYawPitchRoll(ypr);
return ypr[0];
//m_pigeon.(ypr);
//return ypr[0];
}
public double getGyroPitch() {