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Added Shooter Subsystem PID Stuff

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Initialized gains and added velocity PID method.
This commit is contained in:
aarav18
2020-01-19 00:28:21 -07:00
committed by GitHub
parent d9bd213ff2
commit de4265be23
1 changed files with 17 additions and 1 deletions
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src/main/java/frc4388/robot/subsystems/Shooter.java
+17 -1
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@@ -29,6 +29,14 @@ public class Shooter extends SubsystemBase {
m_shooterFalcon.setNeutralMode(NeutralMode.Coast);
m_shooterFalcon.setInverted(false);
setShooterGains();
m_shooterFalcon.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS);
int closedLoopTimeMs = 1;
m_shooterFalcon.configClosedLoopPeriod(0, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalcon.configClosedLoopPeriod(1, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS);
}
@Override
@@ -38,7 +46,7 @@ public class Shooter extends SubsystemBase {
/**
* Runs drum shooter motor.
* @param speed
* @param speed Speed to set the motor at
*/
public void runDrumShooter(double speed) {
m_shooterFalcon.set(speed);
@@ -54,4 +62,12 @@ public class Shooter extends SubsystemBase {
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);
}
/**
* Runs drum shooter velocity PID.
* @param falcon Motor to use
* @param targetVel Target velocity to run motor at
*/
public void runDrumShooterVelocityPID(WPI_TalonFX falcon, double targetVel) {
falcon.set(TalonFXControlMode.Velocity, targetVel);
}
}