Team4388/RiseOfRidgebotics2020
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Fix Shooter

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ryan123rudder
2020-02-04 18:09:40 -07:00
parent cfee098d05
commit 9d8f047bed
3 changed files with 11 additions and 9 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 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(0.13, 0.0, 0.0, 0.053, 0, 1.0);
public static final Gains SHOOTER_GAINS = new Gains(0.425, 0.0005, 13, 0.05, 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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@@ -91,7 +91,7 @@ public class RobotContainer {
.whenPressed(new DriveAtVelocityPID(m_robotDrive, 2000));
new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
.whileHeld(new ShooterVelocityControlPID(m_robotShooter, 8200));
.whileHeld(new ShooterVelocityControlPID(m_robotShooter, 4000));
/*new JoystickButton(getDriverJoystick(), XboxController.LEFT_JOYSTICK_BUTTON)
.whenPressed(new InstantCommand(null, m_robotDrive));*/
src/main/java/frc4388/robot/subsystems/Shooter.java
+9 -7
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@@ -35,6 +35,8 @@ public class Shooter extends SubsystemBase {
m_shooterFalcon.setInverted(true);
setShooterGains();
m_shooterFalcon.configPeakOutputReverse(0, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalcon.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS);
@@ -73,16 +75,16 @@ public class Shooter extends SubsystemBase {
* @param targetVel Target velocity to run motor at
*/
public void runDrumShooterVelocityPID(double targetVel, double actualVel) {
velP = actualVel/targetVel;
double runSpeed = actualVel + (12000*velP);
if (runSpeed > targetVel) {runSpeed = targetVel;}
velP = actualVel/targetVel; //Percent of target
double runSpeed = actualVel + (12000*velP); //Ramp up equation
//if (runSpeed > targetVel) {runSpeed = targetVel;}
SmartDashboard.putNumber("shoot", actualVel);
if (actualVel < targetVel - 7000){
m_shooterFalcon.set(TalonFXControlMode.Velocity, runSpeed);
runSpeed = runSpeed/targetVel; //Convert to percent
if (actualVel < targetVel - 1000){
m_shooterFalcon.set(TalonFXControlMode.PercentOutput, runSpeed);
}
else{
m_shooterFalcon.set(TalonFXControlMode.Velocity, targetVel);
m_shooterFalcon.set(TalonFXControlMode.Velocity, targetVel); //Init PID
}
}
}