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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/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);