Team4388/RiseOfRidgebotics2020
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Tune Shooter and Work on DriverStation

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This commit is contained in:
Keenan D. Buckley
2020-03-11 08:26:27 -06:00
parent 7efbea847a
commit a1632fa688
5 changed files with 423 additions and 91 deletions
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src/main/java/frc4388/robot/Constants.java
+1 -1
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@@ -116,7 +116,7 @@ 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 DRUM_SHOOTER_GAINS = new Gains(0.55, 0.0, 100, 0.0, 0, 1.0);
public static final Gains DRUM_SHOOTER_GAINS = new Gains(1.5, 0.0, 100, 0.055, 0, 1.0);
public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.0, 0.0, 0.0, 0.0, 0, 1.0);
public static final Gains SHOOTER_ANGLE_GAINS = new Gains(0.05, 0.0, 0.0, 0.0, 0, 0.3);
public static final double SHOOTER_TURRET_MIN = -1.0;
src/main/java/frc4388/robot/commands/shooter/ShooterVelocityControlPID.java
+12 -11
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@@ -34,7 +34,18 @@ public class ShooterVelocityControlPID extends CommandBase {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
m_shooter.runDrumShooterVelocityPID(m_shooter.addFireVel());
//Tells whether the target velocity has been reached
m_actualVel = m_shooter.m_shooterFalcon.getSelectedSensorPosition();
m_targetVel = m_shooter.addFireVel();
double error = m_actualVel - m_targetVel;
if (Math.abs(error) < ShooterConstants.DRUM_VELOCITY_BOUND){
m_shooter.m_isDrumReady = true;
m_shooter.runDrumShooterVelocityPID(m_targetVel);
}
else{
m_shooter.m_isDrumReady = false;
m_shooter.runDrumShooterVelocityPID(m_targetVel);
}
}
// Called once the command ends or is interrupted.
@@ -45,16 +56,6 @@ public class ShooterVelocityControlPID extends CommandBase {
// Returns true when the command should end.
@Override
public boolean isFinished() {
//Tells whether the target velocity has been reached
double upperBound = m_targetVel + ShooterConstants.DRUM_VELOCITY_BOUND;
double lowerBound = m_targetVel - ShooterConstants.DRUM_VELOCITY_BOUND;
if (m_actualVel < upperBound && m_actualVel > lowerBound){
m_shooter.m_isDrumReady = true;
}
else{
m_shooter.m_isDrumReady = false;
}
return false;
}
}
src/main/java/frc4388/robot/subsystems/Shooter.java
+1 -1
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@@ -54,7 +54,7 @@ public class Shooter extends SubsystemBase {
m_shooterFalcon.setNeutralMode(NeutralMode.Coast);
m_shooterFalcon.setInverted(true);
m_shooterFalcon.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalcon.configClosedloopRamp(1.0, ShooterConstants.SHOOTER_TIMEOUT_MS);
//m_shooterFalcon.configClosedloopRamp(1.0, ShooterConstants.SHOOTER_TIMEOUT_MS);
setShooterGains();
m_shooterFalcon.configPeakOutputReverse(0, ShooterConstants.SHOOTER_TIMEOUT_MS);
src/main/java/frc4388/robot/subsystems/ShooterAim.java
-2
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@@ -67,8 +67,6 @@ public class ShooterAim extends SubsystemBase {
// This method will be called once per scheduler run
SmartDashboard.putNumber("Turret Angle Raw", getShooterRotatePosition());
SmartDashboard.putBoolean("Aim Ready", m_isAimReady);
SmartDashboard.putData("Turret Angle", m_turretGyro);
SmartDashboard.putBoolean("Turret Aimed" , m_isAimReady);