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Testing changes to pid

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Aarav
2020-01-16 16:47:17 -07:00
parent 928fb6cd5a
commit aa1fbe2e75
3 changed files with 9 additions and 2 deletions
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src/main/java/frc4388/robot/Constants.java
+1 -1
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@@ -29,7 +29,7 @@ public final class Constants {
public static final int DRIVE_SLOT_IDX = 0;
public static final int DRIVE_PID_LOOP_IDX = 0;
public static final int DRIVE_TIMEOUT_MS = 30;
public static final Gains DRIVE_GAINS = new Gains(0.2, 0.0, 0.0, 0.2, 0, 1.0);
public static final Gains DRIVE_GAINS = new Gains(10.0, 0.0, 0.0, 0.2, 0, 1.0);
public static final double ENCODER_TICKS_PER_REV = 2048;
}
src/main/java/frc4388/robot/RobotContainer.java
+1
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@@ -70,6 +70,7 @@ public class RobotContainer {
.whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
.whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
/* PID Test Command */
new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
.whenPressed(() -> m_robotDrive.goToTargetPos());
}
src/main/java/frc4388/robot/subsystems/Drive.java
+7 -1
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@@ -114,6 +114,12 @@ public class Drive extends SubsystemBase {
SmartDashboard.putNumber("I Value Drive", DriveConstants.DRIVE_GAINS.kI);
SmartDashboard.putNumber("D Value Drive", DriveConstants.DRIVE_GAINS.kD);
SmartDashboard.putNumber("F Value Drive", DriveConstants.DRIVE_GAINS.kF);
int closedLoopTimeMs = 1;
m_leftFrontMotor.configClosedLoopPeriod(0, closedLoopTimeMs, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftFrontMotor.configClosedLoopPeriod(1, closedLoopTimeMs, DriveConstants.DRIVE_TIMEOUT_MS);
}
@Override
@@ -185,6 +191,6 @@ public class Drive extends SubsystemBase {
double targetPos = XboxController.RIGHT_Y_AXIS * DriveConstants.ENCODER_TICKS_PER_REV * 10.0;
m_leftFrontMotor.set(ControlMode.MotionMagic, targetPos);
m_rightFrontMotor.set(ControlMode.MotionMagic, targetPos);
m_rightFrontMotor.follow(m_leftFrontMotor);
}
}