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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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){