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Create Shooter Subsystem and PID stuff

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Created shooter subsystem, set up command for shooter to run, set up PID constants, set up gains method in shooter.
This commit is contained in:
Kyra
2020-01-18 15:28:48 -08:00
parent 101cfb5d10
commit d9bd213ff2
5 changed files with 102 additions and 24 deletions
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src/main/java/frc4388/robot/subsystems/Drive.java
+13 -13
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@@ -34,7 +34,7 @@ public class Drive extends SubsystemBase {
public DifferentialDrive m_driveTrain = new DifferentialDrive(m_leftFrontMotor, m_rightFrontMotor);
public static Gains m_gains = DriveConstants.DRIVE_GAINS;
public static Gains m_driveGains = DriveConstants.DRIVE_GAINS;
/**
* Add your docs here.
@@ -121,10 +121,10 @@ public class Drive extends SubsystemBase {
SmartDashboard.putNumber("Left Motor Position Raw", m_leftFrontMotor.getSelectedSensorPosition());
SmartDashboard.putNumber("Right Motor Position Raw", m_rightFrontMotor.getSelectedSensorPosition(0));
m_gains.kP = SmartDashboard.getNumber("P Value Drive", DriveConstants.DRIVE_GAINS.kP);
m_gains.kI = SmartDashboard.getNumber("I Value Drive", DriveConstants.DRIVE_GAINS.kI);
m_gains.kD = SmartDashboard.getNumber("D Value Drive", DriveConstants.DRIVE_GAINS.kD);
m_gains.kF = SmartDashboard.getNumber("F Value Drive", DriveConstants.DRIVE_GAINS.kF);
m_driveGains.kP = SmartDashboard.getNumber("P Value Drive", DriveConstants.DRIVE_GAINS.kP);
m_driveGains.kI = SmartDashboard.getNumber("I Value Drive", DriveConstants.DRIVE_GAINS.kI);
m_driveGains.kD = SmartDashboard.getNumber("D Value Drive", DriveConstants.DRIVE_GAINS.kD);
m_driveGains.kF = SmartDashboard.getNumber("F Value Drive", DriveConstants.DRIVE_GAINS.kF);
setDriveTrainGains();
@@ -151,16 +151,16 @@ public class Drive extends SubsystemBase {
*/
public void setDriveTrainGains(){
m_leftFrontMotor.selectProfileSlot(DriveConstants.DRIVE_SLOT_IDX, DriveConstants.DRIVE_PID_LOOP_IDX);
m_leftFrontMotor.config_kF(DriveConstants.DRIVE_SLOT_IDX, m_gains.kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftFrontMotor.config_kP(DriveConstants.DRIVE_SLOT_IDX, m_gains.kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftFrontMotor.config_kI(DriveConstants.DRIVE_SLOT_IDX, m_gains.kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftFrontMotor.config_kD(DriveConstants.DRIVE_SLOT_IDX, m_gains.kD, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftFrontMotor.config_kF(DriveConstants.DRIVE_SLOT_IDX, m_driveGains.kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftFrontMotor.config_kP(DriveConstants.DRIVE_SLOT_IDX, m_driveGains.kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftFrontMotor.config_kI(DriveConstants.DRIVE_SLOT_IDX, m_driveGains.kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftFrontMotor.config_kD(DriveConstants.DRIVE_SLOT_IDX, m_driveGains.kD, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.selectProfileSlot(DriveConstants.DRIVE_SLOT_IDX, DriveConstants.DRIVE_PID_LOOP_IDX);
m_rightFrontMotor.config_kF(DriveConstants.DRIVE_SLOT_IDX, m_gains.kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kP(DriveConstants.DRIVE_SLOT_IDX, m_gains.kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kI(DriveConstants.DRIVE_SLOT_IDX, m_gains.kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kD(DriveConstants.DRIVE_SLOT_IDX, m_gains.kD, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kF(DriveConstants.DRIVE_SLOT_IDX, m_driveGains.kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kP(DriveConstants.DRIVE_SLOT_IDX, m_driveGains.kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kI(DriveConstants.DRIVE_SLOT_IDX, m_driveGains.kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kD(DriveConstants.DRIVE_SLOT_IDX, m_driveGains.kD, DriveConstants.DRIVE_TIMEOUT_MS);
}
/**
src/main/java/frc4388/robot/subsystems/Elevator.java
+11 -9
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@@ -21,7 +21,7 @@ public class Elevator extends SubsystemBase {
public WPI_TalonSRX m_talon1 = new WPI_TalonSRX(ElevatorConstants.TALON_1);
public WPI_TalonSRX m_talon2 = new WPI_TalonSRX(ElevatorConstants.TALON_2);
public static Gains m_gains = ElevatorConstants.ELEVATOR_GAINS;
public static Gains m_elevatorGains = ElevatorConstants.ELEVATOR_GAINS;
/**
* Creates a new Elevator.
*/
@@ -41,6 +41,8 @@ public class Elevator extends SubsystemBase {
m_talon1.setInverted(InvertType.FollowMaster);
m_talon2.setInverted(InvertType.FollowMaster);
setElevatorGains();
m_talon1.setSelectedSensorPosition(0, ElevatorConstants.ELEVATOR_PID_LOOP_IDX, ElevatorConstants.ELEVATOR_TIMEOUT_MS);
m_talon2.setSelectedSensorPosition(0, ElevatorConstants.ELEVATOR_PID_LOOP_IDX, ElevatorConstants.ELEVATOR_TIMEOUT_MS);
@@ -59,16 +61,16 @@ public class Elevator extends SubsystemBase {
}
public void setElevatorGains(){
m_talon1.selectProfileSlot(ElevatorConstants.ELEVATOR_SLOT_IDX, ElevatorConstants.ELEVATOR_PID_LOOP_IDX);
m_talon1.config_kF(ElevatorConstants.ELEVATOR_SLOT_IDX, m_gains.kF, ElevatorConstants.ELEVATOR_TIMEOUT_MS);
m_talon1.config_kP(ElevatorConstants.ELEVATOR_SLOT_IDX, m_gains.kP, ElevatorConstants.ELEVATOR_TIMEOUT_MS);
m_talon1.config_kI(ElevatorConstants.ELEVATOR_SLOT_IDX, m_gains.kI, ElevatorConstants.ELEVATOR_TIMEOUT_MS);
m_talon1.config_kD(ElevatorConstants.ELEVATOR_SLOT_IDX, m_gains.kD, ElevatorConstants.ELEVATOR_TIMEOUT_MS);
m_talon1.config_kF(ElevatorConstants.ELEVATOR_SLOT_IDX, m_elevatorGains.kF, ElevatorConstants.ELEVATOR_TIMEOUT_MS);
m_talon1.config_kP(ElevatorConstants.ELEVATOR_SLOT_IDX, m_elevatorGains.kP, ElevatorConstants.ELEVATOR_TIMEOUT_MS);
m_talon1.config_kI(ElevatorConstants.ELEVATOR_SLOT_IDX, m_elevatorGains.kI, ElevatorConstants.ELEVATOR_TIMEOUT_MS);
m_talon1.config_kD(ElevatorConstants.ELEVATOR_SLOT_IDX, m_elevatorGains.kD, ElevatorConstants.ELEVATOR_TIMEOUT_MS);
m_talon2.selectProfileSlot(ElevatorConstants.ELEVATOR_SLOT_IDX, ElevatorConstants.ELEVATOR_PID_LOOP_IDX);
m_talon2.config_kF(ElevatorConstants.ELEVATOR_SLOT_IDX, m_gains.kF, ElevatorConstants.ELEVATOR_TIMEOUT_MS);
m_talon2.config_kP(ElevatorConstants.ELEVATOR_SLOT_IDX, m_gains.kP, ElevatorConstants.ELEVATOR_TIMEOUT_MS);
m_talon2.config_kI(ElevatorConstants.ELEVATOR_SLOT_IDX, m_gains.kI, ElevatorConstants.ELEVATOR_TIMEOUT_MS);
m_talon2.config_kD(ElevatorConstants.ELEVATOR_SLOT_IDX, m_gains.kD, ElevatorConstants.ELEVATOR_TIMEOUT_MS);
m_talon2.config_kF(ElevatorConstants.ELEVATOR_SLOT_IDX, m_elevatorGains.kF, ElevatorConstants.ELEVATOR_TIMEOUT_MS);
m_talon2.config_kP(ElevatorConstants.ELEVATOR_SLOT_IDX, m_elevatorGains.kP, ElevatorConstants.ELEVATOR_TIMEOUT_MS);
m_talon2.config_kI(ElevatorConstants.ELEVATOR_SLOT_IDX, m_elevatorGains.kI, ElevatorConstants.ELEVATOR_TIMEOUT_MS);
m_talon2.config_kD(ElevatorConstants.ELEVATOR_SLOT_IDX, m_elevatorGains.kD, ElevatorConstants.ELEVATOR_TIMEOUT_MS);
}
public void runElevatorPositionPID(WPI_TalonSRX talon, double targetPos) {
talon.set(ControlMode.Position, targetPos);
src/main/java/frc4388/robot/subsystems/Shooter.java
+57
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@@ -0,0 +1,57 @@
/*----------------------------------------------------------------------------*/
/* 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.subsystems;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Gains;
import frc4388.robot.Constants.ShooterConstants;
public class Shooter extends SubsystemBase {
WPI_TalonFX m_shooterFalcon = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_ID);
public static Gains m_shooterGains = ShooterConstants.SHOOTER_GAINS;
/**
* Creates a new Shooter.
*/
public Shooter() {
m_shooterFalcon.configFactoryDefault();
m_shooterFalcon.setNeutralMode(NeutralMode.Coast);
m_shooterFalcon.setInverted(false);
}
@Override
public void periodic() {
// This method will be called once per scheduler run
}
/**
* Runs drum shooter motor.
* @param speed
*/
public void runDrumShooter(double speed) {
m_shooterFalcon.set(speed);
}
/**
* Configures gains for shooter PID.
*/
public void setShooterGains() {
m_shooterFalcon.selectProfileSlot(ShooterConstants.SHOOTER_SLOT_IDX, ShooterConstants.SHOOTER_PID_LOOP_IDX);
m_shooterFalcon.config_kF(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.kF, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalcon.config_kP(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.kP, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalcon.config_kI(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.kI, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalcon.config_kD(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.kD, ShooterConstants.SHOOTER_TIMEOUT_MS);
}
}