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Shooter gains fix

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Rishabh
2020-02-11 20:07:35 -07:00
parent 84ad7c156d
commit ee9bd4d301
3 changed files with 14 additions and 17 deletions
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src/main/java/frc4388/robot/Constants.java
+2 -7
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@@ -108,13 +108,8 @@ public final class Constants {
public static final int PID_PRIMARY = 0;
/* PID Gains */
public static final double storP = 0.1;
public static final double storI = 1e-4;
public static final double storD = 1.0;
public static final double storIz = 0.0;
public static final double storF = 0.0;
public static final double storkmaxOutput = 1.0;
public static final double storkminOutput = -1.0;
public static final double STORAGE_MIN_OUTPUT = -1.0;
public static final Gains STORAGE_GAINS = new Gains(0.2, 0.0, 0.0, 0.0, 0, 1.0);
}
public static final class LEDConstants {
src/main/java/frc4388/robot/RobotContainer.java
+1 -1
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@@ -137,7 +137,7 @@ public class RobotContainer {
/* Storage Neo PID Test */
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whileHeld(new RunCommand(() -> m_robotStorage.runStoragePositionPID(0.5, 0.2, 0.0, 0.0, 0.0, 0.0, 1, -1)));
.whileHeld(new RunCommand(() -> m_robotStorage.runStoragePositionPID(0.5)));
}
/**
src/main/java/frc4388/robot/subsystems/Storage.java
+11 -9
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@@ -19,7 +19,7 @@ import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Gains;
import frc4388.robot.Constants.StorageConstants;
public class Storage extends SubsystemBase {
@@ -30,6 +30,8 @@ public class Storage extends SubsystemBase {
CANEncoder m_encoder = m_storageMotor.getEncoder();
Gains storageGains = StorageConstants.STORAGE_GAINS;
/**
* Creates a new Storage.
*/
@@ -72,15 +74,15 @@ public class Storage extends SubsystemBase {
}
/* Storage PID Control */
public void runStoragePositionPID(double targetPos, double kP, double kI, double kD, double kIz, double kF, double kmaxOutput, double kminOutput)
public void runStoragePositionPID(double targetPos)
{
// Set PID Coefficients
m_storagePIDController.setP(kP);
m_storagePIDController.setI(kI);
m_storagePIDController.setD(kD);
m_storagePIDController.setIZone(kIz);
m_storagePIDController.setFF(kF);
m_storagePIDController.setOutputRange(kminOutput, kmaxOutput);
m_storagePIDController.setP(storageGains.m_kP);
m_storagePIDController.setI(storageGains.m_kI);
m_storagePIDController.setD(storageGains.m_kD);
m_storagePIDController.setIZone(storageGains.m_kIzone);
m_storagePIDController.setFF(storageGains.m_kF);
m_storagePIDController.setOutputRange(StorageConstants.STORAGE_MIN_OUTPUT, storageGains.m_kPeakOutput);
m_storagePIDController.setReference(targetPos, ControlType.kPosition);
}
@@ -94,7 +96,7 @@ public class Storage extends SubsystemBase {
* Prepares storage for shooting
*/
public void storageAim() {
//runStoragePositionPID(targetPos, kP, kI, kD, kIz, kF, kmaxOutput, kminOutput);
}
/*
*If shooting move storage motor until top sensor is tripped