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Velocity Control PID

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Does not work in testing
This commit is contained in:
aarav18
2020-01-24 20:27:42 -07:00
parent 0da2e35400
commit dec773cdcd
3 changed files with 48 additions and 36 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+2 -2
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@@ -52,7 +52,7 @@ public class RobotContainer {
/* Default Commands */
// drives the robot with a two-axis input from the driver controller
m_robotDrive.setDefaultCommand(new DriveWithJoystick(m_robotDrive, getDriverController()));
//m_robotDrive.setDefaultCommand(new DriveWithJoystick(m_robotDrive, getDriverController()));
// drives motor with input from triggers on the opperator controller
m_robotIntake.setDefaultCommand(new RunIntakeWithTriggers(m_robotIntake, getOperatorController()));
// continually sends updates to the Blinkin LED controller to keep the lights on
@@ -79,7 +79,7 @@ public class RobotContainer {
/* PID Test Command */
new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
.whileHeld(new RunCommand(() -> m_robotDrive.runVelocityPID(2000), m_robotDrive));
.whileHeld(new DriveAtVelocityPID(m_robotDrive, 50));
new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
.whenPressed(new InstantCommand(() -> m_robotDrive.resetGyroYaw(), m_robotDrive));
src/main/java/frc4388/robot/commands/DriveAtVelocityPID.java
+11 -5
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@@ -9,6 +9,7 @@ package frc4388.robot.commands;
import com.ctre.phoenix.motorcontrol.FollowerType;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.Constants.DriveConstants;
import frc4388.robot.subsystems.Drive;
@@ -18,6 +19,7 @@ public class DriveAtVelocityPID extends CommandBase {
double m_targetVel;
double m_leftTarget;
double m_rightTarget;
double m_copiedTargetVel;
/**
* Creates a new DriveAtVelocityPID.
* @param subsystem drive subsystem
@@ -26,23 +28,27 @@ public class DriveAtVelocityPID extends CommandBase {
public DriveAtVelocityPID(Drive subsystem, double targetVel) {
// Use addRequirements() here to declare subsystem dependencies.
m_drive = subsystem;
m_targetVel = targetVel /* DriveConstants.TICKS_PER_INCH/DriveConstants.SECONDS_TO_TICK_TIME;*/;
m_targetVel = targetVel * DriveConstants.TICKS_PER_INCH/DriveConstants.SECONDS_TO_TICK_TIME;
m_copiedTargetVel = targetVel;
addRequirements(m_drive);
}
// Called when the command is initially scheduled.
@Override
public void initialize() {
m_leftTarget = -m_targetVel;
m_leftTarget = m_targetVel;
m_rightTarget = m_targetVel;
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
m_drive.runVelocityPID(m_rightTarget);
m_drive.runVelocityPID(m_leftTarget);
m_drive.m_leftFrontMotor.follow(m_drive.m_rightFrontMotor, FollowerType.PercentOutput);
m_drive.runVelocityPID(m_targetVel);
SmartDashboard.putNumber("Input Target Velocity", m_copiedTargetVel);
SmartDashboard.putNumber("Output Target Velocity", m_targetVel);
//m_drive.runVelocityPID(m_leftTarget);
//m_drive.m_leftFrontMotor.follow(m_drive.m_rightFrontMotor, FollowerType.PercentOutput);
}
// Called once the command ends or is interrupted.
src/main/java/frc4388/robot/subsystems/Drive.java
+35 -29
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@@ -75,42 +75,45 @@ public class Drive extends SubsystemBase {
m_leftFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.IntegratedSensor, // Local Feedback Source
DriveConstants.PID_PRIMARY, // PID Index for Source [0, 1]
DriveConstants.DRIVE_TIMEOUT_MS); // Configuration Timeout
m_rightFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.IntegratedSensor, // Local Feedback Source
DriveConstants.PID_PRIMARY, // PID Index for Source [0, 1]
DriveConstants.DRIVE_TIMEOUT_MS); // Configuration Timeout
/* Configure the Remote Talon's selected sensor as a remote sensor for the right Talon */
m_rightFrontMotor.configRemoteFeedbackFilter( m_leftFrontMotor.getDeviceID(), // Device ID of Source
/*m_rightFrontMotor.configRemoteFeedbackFilter( m_leftFrontMotor.getDeviceID(), // Device ID of Source
RemoteSensorSource.TalonSRX_SelectedSensor, // Remote Feedback Source
DriveConstants.REMOTE_0, // Source number [0, 1]
DriveConstants.DRIVE_TIMEOUT_MS); // Configuration Timeout
DriveConstants.DRIVE_TIMEOUT_MS); */ // Configuration Timeout
/* Configure the Pigeon IMU to the other Remote Slot available on the right Talon */
m_rightFrontMotor.configRemoteFeedbackFilter( m_pigeon.getDeviceID(),
/*m_rightFrontMotor.configRemoteFeedbackFilter( m_pigeon.getDeviceID(),
RemoteSensorSource.Pigeon_Yaw,
DriveConstants.REMOTE_1,
DriveConstants.DRIVE_TIMEOUT_MS);
DriveConstants.DRIVE_TIMEOUT_MS);*/
/* Setup Sum signal to be used for Distance */
m_rightFrontMotor.configSensorTerm(SensorTerm.Sum0, FeedbackDevice.RemoteSensor0, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configSensorTerm(SensorTerm.Sum1, FeedbackDevice.IntegratedSensor, DriveConstants.DRIVE_TIMEOUT_MS);
//m_rightFrontMotor.configSensorTerm(SensorTerm.Sum0, FeedbackDevice.RemoteSensor0, DriveConstants.DRIVE_TIMEOUT_MS);
//m_rightFrontMotor.configSensorTerm(SensorTerm.Sum1, FeedbackDevice.IntegratedSensor, DriveConstants.DRIVE_TIMEOUT_MS);
/* Configure Sum [Sum of both QuadEncoders] to be used for Primary PID Index */
m_rightFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.SensorSum,
DriveConstants.PID_PRIMARY,
DriveConstants.DRIVE_TIMEOUT_MS);
//m_rightFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.SensorSum,
// DriveConstants.PID_PRIMARY,
// DriveConstants.DRIVE_TIMEOUT_MS);
/* Scale Feedback by 0.5 to half the sum of Distance */
m_rightFrontMotor.configSelectedFeedbackCoefficient( 1.0, // Coefficient
DriveConstants.PID_PRIMARY, // PID Slot of Source
DriveConstants.DRIVE_TIMEOUT_MS); // Configuration Timeout
//m_rightFrontMotor.configSelectedFeedbackCoefficient( 1.0, // Coefficient
// DriveConstants.PID_PRIMARY, // PID Slot of Source
// DriveConstants.DRIVE_TIMEOUT_MS); // Configuration Timeout
/* Don't scale the Feedback Sensor (use 1 for 1:1 ratio) */
m_rightFrontMotor.configSelectedFeedbackCoefficient( 1,
DriveConstants.PID_TURN,
DriveConstants.DRIVE_TIMEOUT_MS);
//m_rightFrontMotor.configSelectedFeedbackCoefficient( 1,
// DriveConstants.PID_TURN,
// DriveConstants.DRIVE_TIMEOUT_MS);
/* Scale the Feedback Sensor using a coefficient */
m_leftFrontMotor.configSelectedFeedbackCoefficient( 1.0,
DriveConstants.PID_PRIMARY,
DriveConstants.DRIVE_TIMEOUT_MS);
//m_leftFrontMotor.configSelectedFeedbackCoefficient( 1.0,
// DriveConstants.PID_PRIMARY,
// DriveConstants.DRIVE_TIMEOUT_MS);
/* flip input so forward becomes back, etc */
m_leftFrontMotor.setInverted(false);
@@ -123,10 +126,10 @@ public class Drive extends SubsystemBase {
m_leftBackMotor.setSensorPhase(true);*/
/* Set status frame periods to ensure we don't have stale data */
m_rightFrontMotor.setStatusFramePeriod(StatusFrame.Status_12_Feedback1, 20, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.setStatusFramePeriod(StatusFrame.Status_13_Base_PIDF0, 20, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.setStatusFramePeriod(StatusFrame.Status_14_Turn_PIDF1, 20, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftFrontMotor.setStatusFramePeriod(StatusFrame.Status_2_Feedback0, 5, DriveConstants.DRIVE_TIMEOUT_MS);
//m_rightFrontMotor.setStatusFramePeriod(StatusFrame.Status_12_Feedback1, 20, DriveConstants.DRIVE_TIMEOUT_MS);
//m_rightFrontMotor.setStatusFramePeriod(StatusFrame.Status_13_Base_PIDF0, 20, DriveConstants.DRIVE_TIMEOUT_MS);
//m_rightFrontMotor.setStatusFramePeriod(StatusFrame.Status_14_Turn_PIDF1, 20, DriveConstants.DRIVE_TIMEOUT_MS);
//m_leftFrontMotor.setStatusFramePeriod(StatusFrame.Status_2_Feedback0, 5, DriveConstants.DRIVE_TIMEOUT_MS);
//m_rightFrontMotor.setStatusFramePeriod(PigeonIMU_StatusFrame.CondStatus_9_SixDeg_YPR, 5, DriveConstants.DRIVE_TIMEOUT_MS);
/* deadbands */
@@ -170,10 +173,10 @@ public class Drive extends SubsystemBase {
* Max out the peak output (for all modes).
* However you can limit the output of a given PID object with configClosedLoopPeakOutput().
*/
m_leftFrontMotor.configPeakOutputForward(+0.5, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftFrontMotor.configPeakOutputReverse(-0.5, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configPeakOutputForward(+0.5, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configPeakOutputReverse(-0.5, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftFrontMotor.configPeakOutputForward(+1, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftFrontMotor.configPeakOutputReverse(-1, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configPeakOutputForward(+1, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configPeakOutputReverse(-1, DriveConstants.DRIVE_TIMEOUT_MS);
/**
* 1ms per loop. PID loop can be slowed down if need be.
@@ -184,7 +187,7 @@ public class Drive extends SubsystemBase {
*/
int closedLoopTimeMs = 1;
m_rightFrontMotor.configClosedLoopPeriod(DriveConstants.PID_PRIMARY, closedLoopTimeMs, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configClosedLoopPeriod(DriveConstants.PID_TURN, closedLoopTimeMs, DriveConstants.DRIVE_TIMEOUT_MS);
//m_rightFrontMotor.configClosedLoopPeriod(DriveConstants.PID_TURN, closedLoopTimeMs, DriveConstants.DRIVE_TIMEOUT_MS);
/**
* configAuxPIDPolarity(boolean invert, int timeoutMs)
@@ -296,9 +299,12 @@ public class Drive extends SubsystemBase {
public void runVelocityPID(double targetVel) {
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
m_rightFrontMotor.set(TalonFXControlMode.Velocity, targetVel, DemandType.AuxPID, 0);
//m_leftFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
//m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
//m_leftFrontMotor.set(TalonFXControlMode.Velocity, targetVelLeft, DemandType.AuxPID, 0);
m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
m_rightFrontMotor.set(TalonFXControlMode.Velocity, targetVel, DemandType.AuxPID, 0);
//m_leftFrontMotor.set(TalonFXControlMode.Velocity, targetVel, DemandType.AuxPID, 0);
}
public void runMotionMagicPID(WPI_TalonFX talon, double targetPos){