Team4388/RiseOfRidgebotics2020
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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);
}
/**