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Organize Drive Periodic

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This commit is contained in:
Keenan D. Buckley
2020-02-25 23:34:38 -07:00
parent 5225a98c2c
commit a36a7f978e
2 changed files with 39 additions and 33 deletions
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src/main/java/frc4388/robot/commands/DrivePositionMPAux.java
+1 -1
View File
@@ -63,7 +63,7 @@ public class DrivePositionMPAux extends CommandBase {
m_currentPos = m_drive.m_rightFrontMotorPos;
if (System.currentTimeMillis() - m_startTime < m_rampRate) {
// Ramping
m_targetVel += m_rampAcc * m_drive.m_deltaTime;
m_targetVel += m_rampAcc * m_drive.m_deltaTimeMs;
m_drive.runDriveVelocityPID(-m_targetVel, m_targetGyro);
} else if (m_targetPos - m_currentPos > m_rampDist) {
// Cruising
src/main/java/frc4388/robot/subsystems/Drive.java
+38 -32
View File
@@ -67,9 +67,10 @@ public class Drive extends SubsystemBase {
public static Gains m_gainsMotionMagicHigh = DriveConstants.DRIVE_MOTION_MAGIC_GAINS_HIGH;
/* Timey Whimey */
public long m_lastTime;
public long m_deltaTime = 0;
public int m_currentTimeSec = (int)(System.currentTimeMillis() / 1000);
public long m_currentTimeMs = System.currentTimeMillis();
public long m_lastTimeMs = m_currentTimeMs;
public long m_deltaTimeMs = 0;
public long m_currentTimeSec = m_currentTimeMs / 1000;
/* Position Tracking */
public double m_rightFrontMotorPos = 0;
@@ -78,6 +79,8 @@ public class Drive extends SubsystemBase {
public double m_totalLeftDistanceInches = 0;
public double m_totalRightDistanceInches = 0;
public double m_currentLeftPosTicks = 0;
public double m_currentRightPosTicks = 0;
public double m_lastLeftPosTicks = 0;
public double m_lastRightPosTicks = 0;
@@ -90,6 +93,7 @@ public class Drive extends SubsystemBase {
/* Misc */
public boolean m_isSpeedShiftHigh;
String m_currentSong = "";
/**
* Add your docs here.
@@ -266,14 +270,34 @@ public class Drive extends SubsystemBase {
Shuffleboard.getTab("Songs").add(m_songChooser);
/* Start counting time */
m_lastTime = System.currentTimeMillis();
}
m_lastTimeMs = System.currentTimeMillis();
}
String currentSong = "";
@Override
public void periodic() {
m_currentTimeSec = (int)(System.currentTimeMillis() / 1000);
SmartDashboard.putNumber("Time Seconds", System.currentTimeMillis());
m_lastTimeMs = m_currentTimeMs;
m_currentTimeMs = System.currentTimeMillis();
m_currentTimeSec = m_currentTimeMs / 1000;
m_deltaTimeMs = m_currentTimeMs - m_lastTimeMs;
//SmartDashboard.putNumber("Time Seconds", m_currentTimeSec);
m_lastAngleYaw = m_currentAngleYaw;
m_currentAngleYaw = getGyroYaw();
m_rightFrontMotorPos = m_rightFrontMotor.getSelectedSensorPosition();
m_rightFrontMotorVel = m_rightFrontMotor.getSelectedSensorVelocity();
m_lastRightPosTicks = m_currentRightPosTicks;
m_lastLeftPosTicks = m_currentLeftPosTicks;
m_currentRightPosTicks = m_rightFrontMotor.getSensorCollection().getIntegratedSensorPosition();
m_currentLeftPosTicks = m_leftFrontMotor.getSensorCollection().getIntegratedSensorPosition();
m_totalRightDistanceInches += ticksToInches(m_currentRightPosTicks - m_lastRightPosTicks);
m_totalLeftDistanceInches += ticksToInches(m_currentLeftPosTicks - m_lastLeftPosTicks);
m_odometry.update(Rotation2d.fromDegrees( getHeading()),
getDistanceInches(m_leftFrontMotor),
-getDistanceInches(m_rightFrontMotor));
if (m_currentTimeSec % 30 == 0) {
coolFalcon(true);
@@ -282,21 +306,6 @@ public class Drive extends SubsystemBase {
coolFalcon(false);
SmartDashboard.putBoolean("Solenoid", false);
}
m_deltaTime = System.currentTimeMillis() - m_lastTime;
m_lastTime = System.currentTimeMillis();
m_lastAngleYaw = m_currentAngleYaw;
m_currentAngleYaw = getGyroYaw();
m_rightFrontMotorPos = m_rightFrontMotor.getSelectedSensorPosition();
m_rightFrontMotorVel = m_rightFrontMotor.getSelectedSensorVelocity();
m_totalRightDistanceInches += ticksToInches(m_rightFrontMotor.getSensorCollection().getIntegratedSensorPosition() - m_lastRightPosTicks);
m_totalLeftDistanceInches += ticksToInches(m_leftFrontMotor.getSensorCollection().getIntegratedSensorPosition() - m_lastLeftPosTicks);
m_odometry.update(Rotation2d.fromDegrees( getHeading()),
getDistanceInches(m_rightFrontMotor),
-getDistanceInches(m_rightFrontMotor));
try {
//SmartDashboard.putNumber("Pigeon Yaw", getGyroYaw());
@@ -349,18 +358,15 @@ public class Drive extends SubsystemBase {
//SmartDashboard.putNumber("Time Seconds", m_currentTimeSec);
//SmartDashboard.putNumber("Delta Time", m_deltaTime);
if (currentSong != m_songChooser.getSelected()){
currentSong = m_songChooser.getSelected();
selectSong(currentSong);
System.err.println(currentSong);
if (m_currentSong != m_songChooser.getSelected()){
m_currentSong = m_songChooser.getSelected();
selectSong(m_currentSong);
//System.err.println(m_currentSong);
}
} catch (Exception e) {
System.err.println("Error in the Drive Subsystem");
System.err.println("Error while using Drive SmartDashboard");
// e.printStackTrace(System.err);
}
m_lastRightPosTicks = m_rightFrontMotor.getSensorCollection().getIntegratedSensorPosition();
m_lastLeftPosTicks = m_leftFrontMotor.getSensorCollection().getIntegratedSensorPosition();
}
public void setRightMotorGains(boolean isHighGear) {
@@ -639,7 +645,7 @@ public class Drive extends SubsystemBase {
*/
public double getTurnRate() {
double deltaYaw = m_currentAngleYaw - m_lastAngleYaw;
double turnRate = 1000 * deltaYaw / m_deltaTime;
double turnRate = 1000 * deltaYaw / m_deltaTimeMs;
return turnRate;
}