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Added inches to encoder ticks conversion

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This commit is contained in:
Keenan D. Buckley
2020-01-18 15:12:48 -07:00
parent 162bbac7bc
commit cbc112982c
5 changed files with 33 additions and 9 deletions
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src/main/java/frc4388/robot/Constants.java
+14 -1
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@@ -19,6 +19,7 @@ import frc4388.utility.LEDPatterns;
*/
public final class Constants {
public static final class DriveConstants {
/* Drive Train IDs */
public static final int DRIVE_LEFT_FRONT_CAN_ID = 2;
public static final int DRIVE_RIGHT_FRONT_CAN_ID = 4;
public static final int DRIVE_LEFT_BACK_CAN_ID = 3;
@@ -31,7 +32,19 @@ public final class Constants {
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 double ENCODER_TICKS_PER_REV = 2048;
/* Drive Train Characteristics */
public static final double TICKS_PER_MOTOR_REV = 2048;
public static final double MOTOR_TO_WHEEL_GEAR_RATIO = 12.5;
public static final double WHEEL_DIAMETER_INCHES = 6;
/* Ratio Calculation */
public static final double TICK_TIME_TO_SECONDS = 0.1;
public static final double SECONDS_TO_TICK_TIME = 1/TICK_TIME_TO_SECONDS;
public static final double WHEEL_TO_MOTOR_GEAR_RATIO = 1/MOTOR_TO_WHEEL_GEAR_RATIO;
public static final double TICKS_PER_WHEEL_REV = TICKS_PER_MOTOR_REV * MOTOR_TO_WHEEL_GEAR_RATIO;
public static final double INCHES_PER_WHEEL_REV = WHEEL_DIAMETER_INCHES * Math.PI;
public static final double TICKS_PER_INCH = TICKS_PER_WHEEL_REV/INCHES_PER_WHEEL_REV;
public static final double INCHES_PER_TICK = 1/TICKS_PER_INCH;
}
public static final class IntakeConstants {
src/main/java/frc4388/robot/RobotContainer.java
+3 -3
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@@ -80,13 +80,13 @@ public class RobotContainer {
/* PID Test Command */
new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
.whenPressed(new DriveToDistancePID(m_robotDrive, 40000));
.whenPressed(new DriveToDistancePID(m_robotDrive, 36));
new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
.whenPressed(new DriveToDistanceMM(m_robotDrive, 5000));
.whenPressed(new DriveToDistanceMM(m_robotDrive, 36));
new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
.whenPressed(new DriveAtVelocityPID(m_robotDrive, 2000));
.whenPressed(new DriveAtVelocityPID(m_robotDrive, 12));
new JoystickButton(getDriverJoystick(), XboxController.LEFT_JOYSTICK_BUTTON)
.whenPressed(new InstantCommand(() -> System.err.print("interrupt"), m_robotDrive));
src/main/java/frc4388/robot/commands/DriveAtVelocityPID.java
+4 -1
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@@ -8,6 +8,7 @@
package frc4388.robot.commands;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.Constants.DriveConstants;
import frc4388.robot.subsystems.Drive;
public class DriveAtVelocityPID extends CommandBase {
@@ -17,11 +18,13 @@ public class DriveAtVelocityPID extends CommandBase {
double m_rightTarget;
/**
* Creates a new DriveAtVelocityPID.
* @param subsystem drive subsystem
* @param distance target velocity in inches/second
*/
public DriveAtVelocityPID(Drive subsystem, double targetVel) {
// Use addRequirements() here to declare subsystem dependencies.
m_drive = subsystem;
m_targetVel = targetVel;
m_targetVel = targetVel * DriveConstants.TICKS_PER_INCH/DriveConstants.SECONDS_TO_TICK_TIME;
addRequirements(m_drive);
}
src/main/java/frc4388/robot/commands/DriveToDistanceMM.java
+4 -1
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@@ -8,6 +8,7 @@
package frc4388.robot.commands;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.Constants.DriveConstants;
import frc4388.robot.subsystems.Drive;
public class DriveToDistanceMM extends CommandBase {
@@ -18,11 +19,13 @@ public class DriveToDistanceMM extends CommandBase {
/**
* Creates a new DriveToDistancePID.
* @param subsystem drive subsystem
* @param distance distance to travel in inches
*/
public DriveToDistanceMM(Drive subsystem, double distance) {
// Use addRequirements() here to declare subsystem dependencies.
m_drive = subsystem;
m_distance = distance;
m_distance = distance * DriveConstants.TICKS_PER_INCH;
addRequirements(m_drive);
}
src/main/java/frc4388/robot/commands/DriveToDistancePID.java
+8 -3
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@@ -9,6 +9,7 @@ package frc4388.robot.commands;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.Constants.DriveConstants;
import frc4388.robot.subsystems.Drive;
public class DriveToDistancePID extends CommandBase {
@@ -19,12 +20,15 @@ public class DriveToDistancePID extends CommandBase {
/**
* Creates a new DriveToDistancePID.
* @param subsystem drive subsystem
* @param distance distance to travel in inches
*/
public DriveToDistancePID(Drive subsystem, double distance) {
// Use addRequirements() here to declare subsystem dependencies.
m_drive = subsystem;
m_distance = distance;
m_distance = distance * DriveConstants.TICKS_PER_INCH;
addRequirements(m_drive);
SmartDashboard.putNumber("Distance Target Inches", distance);
}
// Called when the command is initially scheduled.
@@ -32,8 +36,9 @@ public class DriveToDistancePID extends CommandBase {
public void initialize() {
m_leftTarget = m_drive.m_leftFrontMotor.getActiveTrajectoryPosition() + m_distance;
m_rightTarget = -(m_drive.m_rightFrontMotor.getActiveTrajectoryPosition() + m_distance);
SmartDashboard.putNumber("Left Target", m_leftTarget);
SmartDashboard.putNumber("Right Target", m_rightTarget);
SmartDashboard.putNumber("Distance Target Ticks", m_distance);
SmartDashboard.putNumber("Left Target Ticks", m_leftTarget);
SmartDashboard.putNumber("Right Target Ticks", m_rightTarget);
}
// Called every time the scheduler runs while the command is scheduled.