Team4388/RiseOfRidgebotics2020
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more work done (getting closer)

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This commit is contained in:
Keenan D. Buckley
2020-01-30 16:44:05 -07:00
parent 9b6c6ec658
commit e96ccc527a
5 changed files with 19 additions and 23 deletions
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build.gradle
+1 -1
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@@ -1,6 +1,6 @@
plugins {
id "java"
id "edu.wpi.first.GradleRIO" version "2020.1.2"
id "edu.wpi.first.GradleRIO" version "2020.2.2"
}
sourceCompatibility = JavaVersion.VERSION_11
src/main/java/frc4388/robot/Constants.java
+1 -1
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@@ -30,7 +30,7 @@ public final class Constants {
public static final int DRIVE_TIMEOUT_MS = 30;
public static final Gains DRIVE_DISTANCE_GAINS = new Gains(0.2, 0.0, 0.0, 0.0, 0, 1.0);
public static final Gains DRIVE_VELOCITY_GAINS = new Gains(0.1, 0.0, 0.0, 0.0, 0, 0.3);
public static final Gains DRIVE_TURNING_GAINS = new Gains(0.01, 0.0, 0.0, 0.0, 0, 0.3);
public static final Gains DRIVE_TURNING_GAINS = new Gains(0.2, 0.0, 0.0, 0.0, 0, 0.3);
public static final Gains DRIVE_MOTION_MAGIC_GAINS = new Gains(0.2, 0.0, 0.0, 0.0, 0, 1.0);
public static final int DRIVE_CRUISE_VELOCITY = 15000;
public static final int DRIVE_ACCELERATION = 6000;
src/main/java/frc4388/robot/RobotContainer.java
+3 -3
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@@ -79,16 +79,16 @@ public class RobotContainer {
/* PID Test Command */
new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
.whileHeld(new DriveAtVelocityPID(m_robotDrive, 20));
.whenPressed(new DriveAtVelocityPID(m_robotDrive, 0));
new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
.whenPressed(new InstantCommand(() -> m_robotDrive.resetGyroYaw(), m_robotDrive));
new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
.whileHeld(new RunCommand(() -> m_robotDrive.runTurningPID(0), m_robotDrive));
.whileHeld(new RunCommand(() -> m_robotDrive.driveWithInput(0, 0.3), m_robotDrive));
new JoystickButton(getDriverJoystick(), XboxController.LEFT_JOYSTICK_BUTTON)
.whenPressed(new InstantCommand(() -> System.err.print("interrupt"), m_robotDrive));
.whenPressed(new InstantCommand(() -> m_robotDrive.getCurrentCommand().cancel(), m_robotDrive));
}
/**
src/main/java/frc4388/robot/commands/DriveAtVelocityPID.java
+4 -1
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@@ -8,6 +8,7 @@
package frc4388.robot.commands;
import com.ctre.phoenix.motorcontrol.FollowerType;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandBase;
@@ -40,12 +41,13 @@ public class DriveAtVelocityPID extends CommandBase {
m_leftTarget = m_targetVel;
m_rightTarget = m_targetVel;
m_targetGyro = m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN);
m_drive.setDriveTrainNeutralMode(NeutralMode.Coast);
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
m_drive.runVelocityPID(m_targetVel, 0);
m_drive.runVelocityPID(m_targetVel, m_targetGyro+1000);
SmartDashboard.putNumber("Input Target Velocity", m_copiedTargetVel);
SmartDashboard.putNumber("Output Target Velocity", m_targetVel);
@@ -58,6 +60,7 @@ public class DriveAtVelocityPID extends CommandBase {
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
m_drive.setDriveTrainNeutralMode(NeutralMode.Brake);
}
// Returns true when the command should end.
src/main/java/frc4388/robot/subsystems/Drive.java
+10 -17
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@@ -98,19 +98,19 @@ public class Drive extends SubsystemBase {
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,
m_rightFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.IntegratedSensor,
DriveConstants.PID_PRIMARY,
DriveConstants.DRIVE_TIMEOUT_MS);
/* Scale Feedback by 0.5 to half the sum of Distance */
m_rightFrontMotor.configSelectedFeedbackCoefficient( 0.5, // Coefficient
m_rightFrontMotor.configSelectedFeedbackCoefficient( 1.0, // Coefficient
DriveConstants.PID_PRIMARY, // PID Slot of Source
DriveConstants.DRIVE_TIMEOUT_MS); // Configuration Timeout
m_rightFrontMotor.configSensorTerm(SensorTerm.Diff0, FeedbackDevice.RemoteSensor0, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configSensorTerm(SensorTerm.Diff1, FeedbackDevice.IntegratedSensor, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.SensorDifference,
m_rightFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.RemoteSensor1,
DriveConstants.PID_TURN,
DriveConstants.DRIVE_TIMEOUT_MS);
@@ -133,10 +133,6 @@ public class Drive extends SubsystemBase {
m_rightFrontMotor.setInverted(false);
m_leftBackMotor.setInverted(InvertType.FollowMaster);
m_rightBackMotor.setInverted(InvertType.FollowMaster);
m_rightFrontMotor.setSensorPhase(false);
m_leftFrontMotor.setSensorPhase(false);
/*m_rightBackMotor.setSensorPhase(true);
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);
@@ -174,10 +170,10 @@ public class Drive extends SubsystemBase {
/* PID */
Gains gains = m_chooser.getSelected();
SmartDashboard.putNumber("P Value Drive", gains.kP);
SmartDashboard.putNumber("I Value Drive", gains.kI);
SmartDashboard.putNumber("D Value Drive", gains.kD);
SmartDashboard.putNumber("F Value Drive", gains.kF);
Shuffleboard.getTab("PID").add("P Value Drive", gains.kP);
Shuffleboard.getTab("PID").add("I Value Drive", gains.kI);
Shuffleboard.getTab("PID").add("D Value Drive", gains.kD);
Shuffleboard.getTab("PID").add("F Value Drive", gains.kF);
/**
* Max out the peak output (for all modes).
@@ -310,7 +306,7 @@ public class Drive extends SubsystemBase {
* Add your docs here.
*/
public void driveWithInput(double move, double steer){
m_leftFrontMotor.setInverted(false);
m_rightFrontMotor.setInverted(false);
m_driveTrain.arcadeDrive(move, steer);
}
@@ -321,13 +317,10 @@ public class Drive extends SubsystemBase {
public void runVelocityPID(double targetVel, double targetGyro) {
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
//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.setInverted(true);
m_rightFrontMotor.set(TalonFXControlMode.Velocity, targetVel, DemandType.AuxPID, targetGyro);
m_rightFrontMotor.setInverted(false);
m_rightFrontMotor.set(TalonFXControlMode.PercentOutput, targetVel, DemandType.AuxPID, targetGyro);
m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
//m_leftFrontMotor.set(TalonFXControlMode.Velocity, targetVel, DemandType.AuxPID, 0);
}
public void runMotionMagicPID(WPI_TalonFX talon, double targetPos){