mirror of
https://github.com/Team4388/RiseOfRidgebotics2020.git
synced 2026-06-09 08:48:01 -06:00
Fix Gearing Issues
This commit is contained in:
Keenan D. Buckley
@@ -71,20 +71,20 @@ public class Drive extends SubsystemBase {
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public DifferentialDrive m_driveTrain = new DifferentialDrive(m_leftFrontMotor, m_rightFrontMotor);
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SendableChooser<Gains> m_chooser = new SendableChooser<Gains>();
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public static Gains m_gainsDistance = DriveConstants.DRIVE_DISTANCE_GAINS;
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public static Gains m_gainsVelocity = DriveConstants.DRIVE_VELOCITY_GAINS;
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public static Gains m_gainsTurning = DriveConstants.DRIVE_TURNING_GAINS;
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public static Gains m_gainsMotionMagic = DriveConstants.DRIVE_MOTION_MAGIC_GAINS;
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public static Gains m_gainsDistanceLow = DriveConstants.DRIVE_DISTANCE_GAINS_LOW;
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public static Gains m_gainsVelocityLow = DriveConstants.DRIVE_VELOCITY_GAINS_LOW;
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public static Gains m_gainsTurningLow = DriveConstants.DRIVE_TURNING_GAINS_LOW;
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public static Gains m_gainsMotionMagicLow = DriveConstants.DRIVE_MOTION_MAGIC_GAINS_LOW;
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public static Gains m_gainsDistanceLow = DriveConstants.DRIVE_DISTANCE_GAINS_HIGH;
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public static Gains m_gainsVelocityLow = DriveConstants.DRIVE_VELOCITY_GAINS_HIGH;
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public static Gains m_gainsTurningLow = DriveConstants.DRIVE_TURNING_GAINS_HIGH;
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public static Gains m_gainsMotionMagicLow = DriveConstants.DRIVE_MOTION_MAGIC_GAINS_HIGH;
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public static Gains m_gainsDistanceHigh = DriveConstants.DRIVE_DISTANCE_GAINS_HIGH;
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public static Gains m_gainsVelocityHigh = DriveConstants.DRIVE_VELOCITY_GAINS_HIGH;
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public static Gains m_gainsTurningHigh = DriveConstants.DRIVE_TURNING_GAINS_HIGH;
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public static Gains m_gainsMotionMagicHigh = DriveConstants.DRIVE_MOTION_MAGIC_GAINS_HIGH;
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public final DifferentialDriveOdometry m_odometry;
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public DoubleSolenoid m_speedShift;
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public boolean isSpeedShiftHigh;
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public boolean m_isSpeedShiftHigh;
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public DoubleSolenoid m_coolFalcon;
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@@ -139,18 +139,18 @@ public class Drive extends SubsystemBase {
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/* PID for Back Motor control in Auto */
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m_rightBackMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
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m_rightBackMotor.config_kF(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightBackMotor.config_kP(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightBackMotor.config_kI(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightBackMotor.config_kD(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightBackMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightBackMotor.config_kF(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightBackMotor.config_kP(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightBackMotor.config_kI(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightBackMotor.config_kD(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightBackMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
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m_leftBackMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
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m_leftBackMotor.config_kF(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
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m_leftBackMotor.config_kP(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
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m_leftBackMotor.config_kI(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
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m_leftBackMotor.config_kD(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
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m_leftBackMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
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m_leftBackMotor.config_kF(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
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m_leftBackMotor.config_kP(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
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m_leftBackMotor.config_kI(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
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m_leftBackMotor.config_kD(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
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m_leftBackMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
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/* Setup Sensors for WPI_TalonFXs */
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resetEncoders();
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@@ -306,12 +306,14 @@ public class Drive extends SubsystemBase {
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SmartDashboard.putNumber("Left Back Output", m_leftBackMotor.get());
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SmartDashboard.putNumber("Right Back Output", m_rightBackMotor.get());
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SmartDashboard.putNumber("Left Back Motor Velocity Raw", m_leftBackMotor.getSelectedSensorVelocity());
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SmartDashboard.putNumber("Right Back Motor Velocity Raw", m_rightBackMotor.getSelectedSensorVelocity());
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//SmartDashboard.putNumber("Left Back Motor Velocity Raw", m_leftBackMotor.getSelectedSensorVelocity());
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//SmartDashboard.putNumber("Right Back Motor Velocity Raw", m_rightBackMotor.getSelectedSensorVelocity());
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//SmartDashboard.putNumber("Left Motor Position Raw", m_leftFrontMotor.getSelectedSensorPosition());
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//SmartDashboard.putNumber("Right Motor Position Raw", m_rightFrontMotor.getSelectedSensorPosition(0));
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SmartDashboard.putNumber("Right Motor Velocity Int Sensor", m_rightFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
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SmartDashboard.putNumber("Left Motor Velocity Int Sensor", m_leftFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
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//SmartDashboard.putNumber("Right Motor Velocity Int Sensor", m_rightFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
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//SmartDashboard.putNumber("Left Motor Velocity Int Sensor", m_leftFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
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SmartDashboard.putNumber("Left Motor Pos Inches", getDistanceInches(m_leftFrontMotor));
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SmartDashboard.putNumber("Right Motor Pos Inches", getDistanceInches(m_rightFrontMotor));
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SmartDashboard.putNumber("Right Motor Temp", m_rightFrontMotor.getTemperature());
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SmartDashboard.putNumber("Left Motor Temp", m_leftFrontMotor.getTemperature());
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@@ -345,43 +347,12 @@ public class Drive extends SubsystemBase {
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}
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m_odometry.update(Rotation2d.fromDegrees( getHeading()),
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inchesToMeters(getDistanceInches(m_leftBackMotor)),
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-inchesToMeters(getDistanceInches(m_rightBackMotor)));
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getDistanceInches(m_leftBackMotor),
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-getDistanceInches(m_rightBackMotor));
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}
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public void setRightMotorGains(boolean isHighGear) {
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if (!isHighGear) {
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m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
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m_rightFrontMotor.config_kF(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kP(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kI(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kD(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
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m_rightFrontMotor.config_kF(DriveConstants.SLOT_TURNING, m_gainsTurning.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kP(DriveConstants.SLOT_TURNING, m_gainsTurning.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kI(DriveConstants.SLOT_TURNING, m_gainsTurning.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kD(DriveConstants.SLOT_TURNING, m_gainsTurning.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_TURNING, m_gainsTurning.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_DISTANCE, DriveConstants.PID_PRIMARY);
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m_rightFrontMotor.config_kF(DriveConstants.SLOT_DISTANCE, m_gainsDistance.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kP(DriveConstants.SLOT_DISTANCE, m_gainsDistance.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kI(DriveConstants.SLOT_DISTANCE, m_gainsDistance.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kD(DriveConstants.SLOT_DISTANCE, m_gainsDistance.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configClosedLoopPeakOutput( DriveConstants.SLOT_DISTANCE, m_gainsDistance.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_MOTION_MAGIC, DriveConstants.PID_PRIMARY);
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m_rightFrontMotor.config_kF(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kP(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kI(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kD(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configClosedLoopPeakOutput( DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configMotionCruiseVelocity(DriveConstants.DRIVE_CRUISE_VELOCITY, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configMotionAcceleration(DriveConstants.DRIVE_ACCELERATION, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configMotionSCurveStrength(0, DriveConstants.DRIVE_TIMEOUT_MS);
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} else {
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m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
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m_rightFrontMotor.config_kF(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kP(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
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@@ -409,6 +380,37 @@ public class Drive extends SubsystemBase {
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m_rightFrontMotor.config_kI(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagicLow.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kD(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagicLow.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configClosedLoopPeakOutput( DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagicLow.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configMotionCruiseVelocity(DriveConstants.DRIVE_CRUISE_VELOCITY, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configMotionAcceleration(DriveConstants.DRIVE_ACCELERATION, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configMotionSCurveStrength(0, DriveConstants.DRIVE_TIMEOUT_MS);
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} else {
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m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
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m_rightFrontMotor.config_kF(DriveConstants.SLOT_VELOCITY, m_gainsVelocityHigh.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kP(DriveConstants.SLOT_VELOCITY, m_gainsVelocityHigh.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kI(DriveConstants.SLOT_VELOCITY, m_gainsVelocityHigh.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kD(DriveConstants.SLOT_VELOCITY, m_gainsVelocityHigh.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_VELOCITY, m_gainsVelocityHigh.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
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m_rightFrontMotor.config_kF(DriveConstants.SLOT_TURNING, m_gainsTurningHigh.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kP(DriveConstants.SLOT_TURNING, m_gainsTurningHigh.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kI(DriveConstants.SLOT_TURNING, m_gainsTurningHigh.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kD(DriveConstants.SLOT_TURNING, m_gainsTurningHigh.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_TURNING, m_gainsTurningHigh.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_DISTANCE, DriveConstants.PID_PRIMARY);
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m_rightFrontMotor.config_kF(DriveConstants.SLOT_DISTANCE, m_gainsDistanceHigh.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kP(DriveConstants.SLOT_DISTANCE, m_gainsDistanceHigh.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kI(DriveConstants.SLOT_DISTANCE, m_gainsDistanceHigh.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kD(DriveConstants.SLOT_DISTANCE, m_gainsDistanceHigh.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configClosedLoopPeakOutput( DriveConstants.SLOT_DISTANCE, m_gainsDistanceHigh.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_MOTION_MAGIC, DriveConstants.PID_PRIMARY);
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m_rightFrontMotor.config_kF(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagicHigh.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kP(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagicHigh.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kI(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagicHigh.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kD(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagicHigh.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configClosedLoopPeakOutput( DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagicHigh.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configMotionCruiseVelocity(DriveConstants.DRIVE_CRUISE_VELOCITY_HIGH, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configMotionAcceleration(DriveConstants.DRIVE_ACCELERATION_HIGH, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configMotionSCurveStrength(0, DriveConstants.DRIVE_TIMEOUT_MS);
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@@ -650,8 +652,8 @@ public class Drive extends SubsystemBase {
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* @return The current wheel speeds.
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*/
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public DifferentialDriveWheelSpeeds getWheelSpeeds() {
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return new DifferentialDriveWheelSpeeds( inchesToMeters(getVelocityInchesPerSecond(m_leftBackMotor)),
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-inchesToMeters(getVelocityInchesPerSecond(m_rightBackMotor)));
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return new DifferentialDriveWheelSpeeds( getVelocityInchesPerSecond(m_leftBackMotor),
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-getVelocityInchesPerSecond(m_rightBackMotor));
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}
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/**
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@@ -698,7 +700,11 @@ public class Drive extends SubsystemBase {
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* @return The converted value in inches
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*/
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public double ticksToInches(double ticks) {
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return ticks * DriveConstants.INCHES_PER_TICK;
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if (m_isSpeedShiftHigh) {
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return ticks * DriveConstants.INCHES_PER_TICK_HIGH;
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} else {
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return ticks * DriveConstants.INCHES_PER_TICK_LOW;
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}
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}
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/**
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@@ -707,7 +713,11 @@ public class Drive extends SubsystemBase {
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* @return The converted value in ticks
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*/
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public double inchesToTicks(double inches) {
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return inches * DriveConstants.TICKS_PER_INCH;
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if (m_isSpeedShiftHigh) {
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return inches * DriveConstants.TICKS_PER_INCH_HIGH;
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} else {
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return inches * DriveConstants.TICKS_PER_INCH_LOW;
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}
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}
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/**
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@@ -755,7 +765,7 @@ public class Drive extends SubsystemBase {
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m_speedShift.set(DoubleSolenoid.Value.kForward);
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}
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setRightMotorGains(state);
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isSpeedShiftHigh = state;
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m_isSpeedShiftHigh = state;
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}
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/**
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