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Merge pull request #31 from Team4388/Shooter-PID-Integration-Neo-Motors

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Shooter pid integration neo motors
This commit is contained in:
ryan123rudder
2020-02-15 12:11:34 -08:00
committed by GitHub
parent 3e248bd186 543c4d320c
commit a93932c8d3
3 changed files with 79 additions and 9 deletions
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src/main/java/frc4388/robot/Constants.java
+11 -4
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@@ -66,24 +66,31 @@ public final class Constants {
}
public static final class IntakeConstants {
public static final int INTAKE_SPARK_ID = 9;
public static final int EXTENDER_SPARK_ID = 10;
public static final int INTAKE_SPARK_ID = -9;
public static final int EXTENDER_SPARK_ID = -10;
}
public static final class ShooterConstants {
/* Motor IDs */
public static final int SHOOTER_FALCON_ID = 8;
public static final int SHOOTER_ANGLE_ADJUST_ID = 9;
public static final int SHOOTER_ROTATE_ID = 10;
/* PID Constants Shooter */
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(0.4, 0.0005, 13, 0.05, 0, 1.0);
public static final Gains DRUM_SHOOTER_GAINS = new Gains(0.4, 0.0005, 13, 0.05, 0, 1.0);
public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.2, 0.0, 0.0, 0.0, 0, 1.0);
public static final double SHOOTER_TURRET_MIN = -1.0;
public static final double ENCODER_TICKS_PER_REV = 2048;
public static final double NEO_UNITS_PER_REV = 42;
public static final double DEGREES_PER_ROT = 360;
}
public static final class ClimberConstants {
public static final int CLIMBER_SPARK_ID = 10;
public static final int CLIMBER_SPARK_ID = -1;
}
public static final class LevelerConstants {
src/main/java/frc4388/robot/RobotContainer.java
+3 -3
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@@ -72,11 +72,11 @@ public class RobotContainer {
// continually sends updates to the Blinkin LED controller to keep the lights on
m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
// runs the drum shooter in idle mode
m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runDrumShooter(0.15), m_robotShooter));
// m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runDrumShooter(0.15), m_robotShooter));
// drives the leveler with an axis input from the driver controller
m_robotLeveler.setDefaultCommand(new RunLevelerWithJoystick(m_robotLeveler, getDriverController()));
// m_robotLeveler.setDefaultCommand(new RunLevelerWithJoystick(m_robotLeveler, getDriverController()));
// runs storage motor at 50 percent
m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
// m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
}
/**
src/main/java/frc4388/robot/subsystems/Shooter.java
+65 -2
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@@ -10,24 +10,41 @@ package frc4388.robot.subsystems;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.revrobotics.CANEncoder;
import com.revrobotics.CANPIDController;
import com.revrobotics.CANSparkMax;
import com.revrobotics.ControlType;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Gains;
import frc4388.robot.Constants.DriveConstants;
import frc4388.robot.Constants.ShooterConstants;
public class Shooter extends SubsystemBase {
public WPI_TalonFX m_shooterFalcon = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_ID);
public CANSparkMax m_angleAdjustMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless);
public CANSparkMax m_shooterRotateMotor = new CANSparkMax(ShooterConstants.SHOOTER_ROTATE_ID, MotorType.kBrushless);
public static Gains m_shooterGains = ShooterConstants.SHOOTER_GAINS;
public static Gains m_shooterGains = ShooterConstants.DRUM_SHOOTER_GAINS;
// Configure PID Controllers
CANPIDController m_angleAdjustPIDController = m_angleAdjustMotor.getPIDController();
CANPIDController m_shooterRotatePIDController = m_shooterRotateMotor.getPIDController();
CANEncoder m_angleEncoder = m_angleAdjustMotor.getEncoder();
CANEncoder m_shooterRotateEncoder = m_shooterRotateMotor.getEncoder();
double velP;
/**
* Creates a new Shooter subsystem.
*/
public Shooter() {
//Testing purposes reseting gyros
resetGyroAngleAdj();
resetGyroShooterRotate();
m_shooterFalcon.configFactoryDefault();
m_shooterFalcon.setNeutralMode(NeutralMode.Coast);
@@ -86,4 +103,50 @@ public class Shooter extends SubsystemBase {
m_shooterFalcon.set(TalonFXControlMode.Velocity, targetVel); //Init PID
}
}
/* Angle Adjustment PID Control */
public void runAngleAdjustPID(double targetAngle)
{
// Set PID Coefficients
m_angleAdjustPIDController.setP(m_shooterGains.m_kP);
m_angleAdjustPIDController.setI(m_shooterGains.m_kI);
m_angleAdjustPIDController.setD(m_shooterGains.m_kD);
m_angleAdjustPIDController.setIZone(m_shooterGains.m_kIzone);
m_angleAdjustPIDController.setFF(m_shooterGains.m_kF);
m_angleAdjustPIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterGains.m_kPeakOutput);
// Convert input angle in degrees to rotations of the motor
targetAngle = targetAngle/ShooterConstants.DEGREES_PER_ROT;
m_angleAdjustPIDController.setReference(targetAngle, ControlType.kPosition);
}
/* Rotate Shooter PID Control */
public void runshooterRotatePID(double targetAngle)
{
// Set PID Coefficients
m_shooterRotatePIDController.setP(m_shooterGains.m_kP);
m_shooterRotatePIDController.setI(m_shooterGains.m_kI);
m_shooterRotatePIDController.setD(m_shooterGains.m_kD);
m_shooterRotatePIDController.setFF(m_shooterGains.m_kF);
m_shooterRotatePIDController.setIZone(m_shooterGains.m_kIzone);
m_shooterRotatePIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterGains.m_kPeakOutput);
// Convert input angle in degrees to rotations of the motor
targetAngle = targetAngle/ShooterConstants.DEGREES_PER_ROT;
m_shooterRotatePIDController.setReference(targetAngle, ControlType.kPosition);
}
/* For Testing Purposes, reseting gyro for angle adjuster */
public void resetGyroAngleAdj()
{
m_angleEncoder.setPosition(0);
}
/* For Testing Purposes, reseting gyro for shooter rotation */
public void resetGyroShooterRotate()
{
m_shooterRotateEncoder.setPosition(0);
}
}