Team4388/RiseOfRidgebotics2020
1
0
Fork 0
mirror of https://github.com/Team4388/RiseOfRidgebotics2020.git synced 2026-06-09 08:48:01 -06:00
Code Issues Packages Projects Releases Wiki Activity

Remove unused Smartdashboard PID Tuner

Browse Source
This commit is contained in:
Keenan D. Buckley
2020-02-12 21:46:38 -07:00
parent e8a00f533b
commit f7782c8acd
1 changed files with 6 additions and 76 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/subsystems/Drive.java
+6 -76
View File
@@ -182,34 +182,16 @@ public class Drive extends SubsystemBase {
/* Smart Dashboard Initial Values */
/* Set up Chooser */
m_chooser.setDefaultOption("Distance PID", m_gainsDistance);
// setDriveTrainGains("Distance PID", m_gainsDistance);
m_chooser.addOption("Velocity PID", m_gainsVelocity);
// setDriveTrainGains("Velocity PID", m_gainsVelocity);
m_chooser.addOption("Turning PID", m_gainsTurning);
// setDriveTrainGains("Turning PID", m_gainsTurning);
m_chooser.addOption("Motion Magic PID", m_gainsMotionMagic);
// setDriveTrainGains("Motion Magic PID", m_gainsMotionMagic);
Shuffleboard.getTab("PID").add(m_chooser);
/* Gyro */
SmartDashboard.putNumber("Pigeon Yaw", getGyroYaw());
SmartDashboard.putNumber("Pigeon Pitch", getGyroPitch());
SmartDashboard.putNumber("Pigeon Roll", getGyroRoll());
//SmartDashboard.putNumber("Pigeon Pitch", getGyroPitch());
//SmartDashboard.putNumber("Pigeon Roll", getGyroRoll());
/* Sensor Values */
SmartDashboard.putNumber("Left Motor Velocity Raw", m_leftFrontMotor.getSelectedSensorVelocity(0));
SmartDashboard.putNumber("Right Motor Velocity Raw", m_rightFrontMotor.getSelectedSensorVelocity());
SmartDashboard.putNumber("Left Motor Position Raw", m_leftFrontMotor.getSelectedSensorPosition(0));
SmartDashboard.putNumber("Right Motor Position Raw", m_rightFrontMotor.getSelectedSensorPosition());
/* PID */
Gains gains = m_chooser.getSelected();
Shuffleboard.getTab("PID").add("P Value Drive", gains.m_kP);
Shuffleboard.getTab("PID").add("I Value Drive", gains.m_kI);
Shuffleboard.getTab("PID").add("D Value Drive", gains.m_kD);
Shuffleboard.getTab("PID").add("F Value Drive", gains.m_kF);
//SmartDashboard.putNumber("Left Motor Velocity Raw", m_leftFrontMotor.getSelectedSensorVelocity(0));
//SmartDashboard.putNumber("Right Motor Velocity Raw", m_rightFrontMotor.getSelectedSensorVelocity());
//SmartDashboard.putNumber("Left Motor Position Raw", m_leftFrontMotor.getSelectedSensorPosition(0));
//SmartDashboard.putNumber("Right Motor Position Raw", m_rightFrontMotor.getSelectedSensorPosition());
/**
* Max out the peak output (for all modes). However you can limit the output of
@@ -292,58 +274,6 @@ public class Drive extends SubsystemBase {
m_rightBackMotor.setNeutralMode(mode);
}
/**
* Initializes the drive train gains kP, kI, kD, and kF
*
* @param slot Either "Distance PID", "Velocity PID", "Motion Magic PID", or
* "Turning PID"
* @param gains A gains object which is the gains that are set for the slot
*/
public void setDriveTrainGains(String slot, Gains gains) {
/* Distance */
if (slot.equals("Distance PID")) {
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_DISTANCE, DriveConstants.PID_PRIMARY);
m_rightFrontMotor.config_kF(DriveConstants.SLOT_DISTANCE, gains.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kP(DriveConstants.SLOT_DISTANCE, gains.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kI(DriveConstants.SLOT_DISTANCE, gains.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kD(DriveConstants.SLOT_DISTANCE, gains.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
}
/* Velocity */
if (slot.equals("Velocity PID")) {
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
m_rightFrontMotor.config_kF(DriveConstants.SLOT_VELOCITY, gains.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kP(DriveConstants.SLOT_VELOCITY, gains.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kI(DriveConstants.SLOT_VELOCITY, gains.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kD(DriveConstants.SLOT_VELOCITY, gains.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_VELOCITY, gains.m_kPeakOutput,
DriveConstants.DRIVE_TIMEOUT_MS);
}
/* Turning */
if (slot.equals("Turning PID")) {
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
m_rightFrontMotor.config_kF(DriveConstants.SLOT_TURNING, gains.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kP(DriveConstants.SLOT_TURNING, gains.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kI(DriveConstants.SLOT_TURNING, gains.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kD(DriveConstants.SLOT_TURNING, gains.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_TURNING, gains.m_kPeakOutput,
DriveConstants.DRIVE_TIMEOUT_MS);
}
/* Motion Magic */
if (slot.equals("Motion Magic PID")) {
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_MOTION_MAGIC, DriveConstants.PID_PRIMARY);
m_rightFrontMotor.config_kF(DriveConstants.SLOT_MOTION_MAGIC, gains.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kP(DriveConstants.SLOT_MOTION_MAGIC, gains.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kI(DriveConstants.SLOT_MOTION_MAGIC, gains.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kD(DriveConstants.SLOT_MOTION_MAGIC, gains.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configMotionCruiseVelocity(DriveConstants.DRIVE_CRUISE_VELOCITY,
DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configMotionAcceleration(DriveConstants.DRIVE_ACCELERATION, DriveConstants.DRIVE_TIMEOUT_MS);
}
}
/**
* Runs percent output control on the moving and steering of the drive train,
* using the Differential Drive class to manage the two inputs