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Merge pull request #50 from Team4388/fix-dead-assist

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Fix dead assist
This commit is contained in:
Keenan D. Buckley
2020-03-02 23:38:51 +00:00
committed by GitHub
parent 3c99a1eccb 60b67a89dd
commit a83304baf0
4 changed files with 23 additions and 11 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+1 -1
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@@ -127,7 +127,7 @@ public class RobotContainer {
/* Default Commands */
// drives the robot with a two-axis input from the driver controller
m_robotDrive.setDefaultCommand(new DriveWithJoystick(m_robotDrive, m_robotPneumatics, getDriverController()));
m_robotDrive.setDefaultCommand(new DriveWithJoystickDriveStraight(m_robotDrive, getDriverController()));
//m_robotDrive.setDefaultCommand(new DriveWithJoystickUsingDeadAssistPID(m_robotDrive, m_robotPneumatics, getDriverController()));
// drives intake with input from triggers on the opperator controller
src/main/java/frc4388/robot/commands/DriveWithJoystickDriveStraight.java
+13 -6
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@@ -21,6 +21,7 @@ public class DriveWithJoystickDriveStraight extends CommandBase {
long m_deadTimeSteer, m_deadTimeMove;
long m_deadTimeout = 100;
IHandController m_controller;
boolean m_isInterrupted;
/**
* Creates a new DriveWithJoystickDriveStraight to control the drivetrain with an Xbox controller.
@@ -54,6 +55,11 @@ public class DriveWithJoystickDriveStraight extends CommandBase {
m_deltaTime = System.currentTimeMillis() - m_currTime;
m_currTime = System.currentTimeMillis();
if (m_isInterrupted) {
resetGyroTarget();
m_isInterrupted = false;
}
/* If steer stick is being used */
if (steerInput != 0) {
m_deadTimeSteer = m_currTime;
@@ -78,14 +84,14 @@ public class DriveWithJoystickDriveStraight extends CommandBase {
}
private void runDriveWithInput(double move, double steer) {
double cosMultiplier = .45;
double cosMultiplier = .7;
double steerOutput = 0;
double deadzone = .2;
double deadzone = .1;
/* Curves the steer output to be similarily gradual */
if (steer > 0){
steerOutput = -cosMultiplier*Math.cos(1.571*steer)+(cosMultiplier+deadzone);
} else {
steerOutput = cosMultiplier*Math.cos(1.571*steer)-(cosMultiplier+deadzone);
if (steer > 0) {
steerOutput = -(cosMultiplier - deadzone) * Math.cos(1.571*steer) + cosMultiplier;
} else if (steer < 0) {
steerOutput = (cosMultiplier - deadzone) * Math.cos(1.571*steer) - cosMultiplier;
}
m_drive.driveWithInput(move, steerOutput);
System.out.println("Driving With Input");
@@ -108,6 +114,7 @@ public class DriveWithJoystickDriveStraight extends CommandBase {
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
m_isInterrupted = interrupted;
}
// Returns true when the command should end.
src/main/java/frc4388/robot/commands/DriveWithJoystickUsingDeadAssistPID.java
+4 -4
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@@ -122,14 +122,14 @@ public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
}
private void runDriveWithInput(double move, double steerInput) {
double cosMultiplier = .55;
double cosMultiplier = .70;
double steerOutput = 0;
double deadzone = .2;
double deadzone = .1;
/* Curves the steer output to be similarily gradual */
if (steerInput > 0){
steerOutput = -cosMultiplier*Math.cos(1.571*steerInput)+(cosMultiplier+deadzone);
steerOutput = -(cosMultiplier - deadzone)*Math.cos(1.571*steerInput)+(cosMultiplier);
} else if (steerInput < 0) {
steerOutput = cosMultiplier*Math.cos(1.571*steerInput)-(cosMultiplier+deadzone);
steerOutput = (cosMultiplier - deadzone)*Math.cos(1.571*steerInput)-(cosMultiplier);
}
m_drive.driveWithInput(move, steerOutput);
src/main/java/frc4388/robot/subsystems/Drive.java
+5
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@@ -114,6 +114,11 @@ public class Drive extends SubsystemBase {
m_leftFrontMotor.configOpenloopRamp(DriveConstants.OPEN_LOOP_RAMP_RATE, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftBackMotor.configOpenloopRamp(DriveConstants.OPEN_LOOP_RAMP_RATE, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configClosedloopRamp(DriveConstants.OPEN_LOOP_RAMP_RATE, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightBackMotor.configClosedloopRamp(DriveConstants.OPEN_LOOP_RAMP_RATE, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftFrontMotor.configClosedloopRamp(DriveConstants.OPEN_LOOP_RAMP_RATE, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftBackMotor.configClosedloopRamp(DriveConstants.OPEN_LOOP_RAMP_RATE, DriveConstants.DRIVE_TIMEOUT_MS);
/* Config Supply Current Limit (Use only for debugging) */
//m_rightFrontMotor.configSupplyCurrentLimit(DriveConstants.SUPPLY_CURRENT_LIMIT_CONFIG);
//m_leftFrontMotor.configSupplyCurrentLimit(DriveConstants.SUPPLY_CURRENT_LIMIT_CONFIG);