Add dead assist to make the robot stay its course when given no input

2026-06-09 08:48:01 -06:00 · 2020-02-12 20:30:44 -07:00
parent d402a31a16
commit b2fcc3c966
1 changed files with 108 additions and 0 deletions
@@ -0,0 +1,108 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import edu.wpi.first.wpiutil.math.MathUtil;
+import frc4388.robot.Constants.DriveConstants;
+import frc4388.robot.subsystems.Drive;
+import frc4388.utility.controller.IHandController;
+
+public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
+  Drive m_drive;
+  double m_targetGyro;
+  long lastTime;
+  IHandController m_controller;
+  boolean isAuxPIDEnabled = false;
+
+  /**
+   * Creates a new DriveWithJoystickUsingDeadAssist.
+   */
+  public DriveWithJoystickUsingDeadAssistPID(Drive subsystem, IHandController controller) {
+    // Use addRequirements() here to declare subsystem dependencies.    
+    m_drive = subsystem;
+    m_controller = controller;
+    addRequirements(m_drive);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    lastTime = System.currentTimeMillis();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    double currentGyro = m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN);
+    double moveInput = m_controller.getLeftYAxis();
+    double steerInput = m_controller.getRightXAxis();
+    double moveOutput = 0;
+    double steerOutput = 0;
+    long deltaTime = System.currentTimeMillis() - lastTime;
+    lastTime = System.currentTimeMillis();
+
+    /* If AuxPID is enabled, then update using the steer input */
+    if (isAuxPIDEnabled) {
+      m_targetGyro += 2 * steerInput * deltaTime;
+  
+      m_targetGyro = MathUtil.clamp(  m_targetGyro, 
+                                      currentGyro-(DriveConstants.TICKS_PER_GYRO_REV/4),
+                                      currentGyro+(DriveConstants.TICKS_PER_GYRO_REV/4));
+    }
+    /* Otherwise set target angle to current angle */
+    else {
+      m_targetGyro = currentGyro;
+    }
+
+    /* If move stick is being used */
+    if (moveInput != 0) {
+      /* Curves the moveInput to be slightly more gradual at first */
+      if (moveInput >= 0) {
+        moveOutput = -Math.cos(1.571*moveInput)+1;
+      } else {
+        moveOutput = Math.cos(1.571*moveInput)-1;
+      }
+
+      /* If steer stick is being used. */
+      if (steerInput != 0) {
+        double cosMultiplier = .45;
+        double deadzone = .2;
+        /* Curves the steer output to be similarily gradual */
+        if (steerInput > 0){
+          steerOutput = -cosMultiplier*Math.cos(1.571*steerInput)+(cosMultiplier+deadzone);
+        } else {
+          steerOutput = cosMultiplier*Math.cos(1.571*steerInput)-(cosMultiplier+deadzone);
+        }
+        m_drive.driveWithInput(moveOutput, steerOutput);
+        isAuxPIDEnabled = false;
+      }
+      /* If only the move stick is being used */
+      else {
+        m_drive.driveWithInputAux(moveOutput, m_targetGyro);
+        isAuxPIDEnabled = true;
+      }
+    }
+    /* If the move stick is not being used */
+    else {
+      m_drive.runDriveStraightVelocityPID(0, m_targetGyro);
+      isAuxPIDEnabled = true;
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}