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Merge pull request #15 from Team4388/add-shooter-subsystem-PID-new

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Add shooter subsystem pid new
This commit is contained in:
Keenan D. Buckley
2020-02-11 03:07:13 +00:00
committed by GitHub
parent be98c51de6 1b63e2a63d
commit fdc8e37b5b
5 changed files with 131 additions and 29 deletions
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src/main/java/frc4388/robot/Constants.java
+12
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@@ -69,6 +69,18 @@ public final class Constants {
public static final int INTAKE_SPARK_ID = 9;
public static final int EXTENDER_SPARK_ID = 10;
}
public static final class ShooterConstants {
public static final int SHOOTER_FALCON_ID = 8;
/* PID Constants Shooter */
public static final int SHOOTER_SLOT_IDX = 0;
public static final int SHOOTER_PID_LOOP_IDX = 1;
public static final int SHOOTER_TIMEOUT_MS = 30;
public static final Gains SHOOTER_GAINS = new Gains(0.4, 0.0005, 13, 0.05, 0, 1.0);
public static final double ENCODER_TICKS_PER_REV = 2048;
}
public static final class ClimberConstants {
public static final int CLIMBER_SPARK_ID = 10;
src/main/java/frc4388/robot/RobotContainer.java
+16 -4
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@@ -20,6 +20,11 @@ import frc4388.robot.commands.DriveWithJoystick;
import frc4388.robot.commands.RunClimberWithTriggers;
import frc4388.robot.commands.RunExtenderOutIn;
import frc4388.robot.commands.RunIntakeWithTriggers;
import frc4388.robot.commands.ShooterVelocityControlPID;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.Intake;
import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.Climber;
import frc4388.robot.commands.RunLevelerWithJoystick;
import frc4388.robot.subsystems.Drive;
@@ -43,6 +48,7 @@ public class RobotContainer {
private final Drive m_robotDrive = new Drive();
private final LED m_robotLED = new LED();
private final Intake m_robotIntake = new Intake();
private final Shooter m_robotShooter = new Shooter();
private final Climber m_robotClimber = new Climber();
private final Leveler m_robotLeveler = new Leveler();
private final Storage m_robotStorage = new Storage();
@@ -66,6 +72,8 @@ public class RobotContainer {
m_robotClimber.setDefaultCommand(new RunClimberWithTriggers(m_robotClimber, getDriverController()));
// continually sends updates to the Blinkin LED controller to keep the lights on
m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
// runs the drum shooter in idle mode
m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runDrumShooter(0.15), m_robotShooter));
// drives the leveler with an axis input from the driver controller
m_robotLeveler.setDefaultCommand(new RunLevelerWithJoystick(m_robotLeveler, getDriverController()));
// runs storage motor at 50 percent
@@ -80,6 +88,9 @@ public class RobotContainer {
*/
private void configureButtonBindings() {
/* Driver Buttons */
// test command to spin the robot while pressing A on the driver controller
new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
.whileHeld(() -> m_robotDrive.driveWithInput(0, 1), m_robotDrive);
//new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
// .whenPressed(new DriveStraightToPositionPID(m_robotDrive, 36));
@@ -88,15 +99,18 @@ public class RobotContainer {
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
.whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
.whileHeld(new ShooterVelocityControlPID(m_robotShooter, 4000));
new JoystickButton(getOperatorJoystick(), XboxController.LEFT_BUMPER_BUTTON)
.whenPressed(new RunExtenderOutIn(m_robotIntake));
/* PID Test Command */
// runs velocity PID while driving straight
new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
.whenPressed(new DriveStraightAtVelocityPID(m_robotDrive, 500))
.whenReleased(new InstantCommand(() -> System.out.print("Gamer"), m_robotDrive));
// resets the yaw of the pigeon
new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
.whenPressed(new InstantCommand(() -> m_robotDrive.resetGyroYaw(), m_robotDrive));
@@ -108,9 +122,7 @@ public class RobotContainer {
// sets solenoids into low gear
new JoystickButton(getDriverJoystick(), XboxController.BACK_BUTTON)
.whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(false), m_robotDrive));
//new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
// .whenPressed(new RunCommand(() -> m_robotDrive.runMotionMagicPID(5000, 0), m_robotDrive));
// interrupts any running command
new JoystickButton(getDriverJoystick(), XboxController.LEFT_JOYSTICK_BUTTON)
.whenPressed(new InstantCommand(() -> System.out.print("Gamer"), m_robotDrive));
src/main/java/frc4388/robot/commands/DriveToDistanceMM.java → src/main/java/frc4388/robot/commands/ShooterVelocityControlPID.java
+12 -24
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@@ -8,39 +8,31 @@
package frc4388.robot.commands;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.Constants.DriveConstants;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.Shooter;
public class DriveToDistanceMM extends CommandBase {
Drive m_drive;
double m_distance;
double m_leftTarget;
double m_rightTarget;
public class ShooterVelocityControlPID extends CommandBase {
Shooter m_shooter;
double m_targetVel;
/**
* Creates a new DriveToDistancePID.
* @param subsystem drive subsystem
* @param distance distance to travel in inches
* Creates a new ShooterVelocityControlPID.
*/
public DriveToDistanceMM(Drive subsystem, double distance) {
public ShooterVelocityControlPID(Shooter subsystem, double targetVel) {
// Use addRequirements() here to declare subsystem dependencies.
m_drive = subsystem;
m_distance = distance * DriveConstants.TICKS_PER_INCH;
addRequirements(m_drive);
m_shooter = subsystem;
m_targetVel = targetVel;
addRequirements(m_shooter);
}
// Called when the command is initially scheduled.
@Override
public void initialize() {
m_leftTarget = m_drive.m_leftFrontMotor.getActiveTrajectoryPosition() + m_distance;
m_rightTarget = -(m_drive.m_rightFrontMotor.getActiveTrajectoryPosition() + m_distance);
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
//m_drive.runMotionMagicPID(m_drive.m_leftFrontMotor, m_leftTarget);
//m_drive.runMotionMagicPID(m_drive.m_rightFrontMotor, m_rightTarget);
System.err.println(m_shooter.m_shooterFalcon.getSelectedSensorVelocity());
m_shooter.runDrumShooterVelocityPID(m_targetVel, m_shooter.m_shooterFalcon.getSelectedSensorVelocity());
}
// Called once the command ends or is interrupted.
@@ -51,10 +43,6 @@ public class DriveToDistanceMM extends CommandBase {
// Returns true when the command should end.
@Override
public boolean isFinished() {
if (Math.abs(m_drive.m_leftFrontMotor.getActiveTrajectoryPosition() - m_leftTarget) < 100){
return true;
} else {
return false;
}
return false;
}
}
src/main/java/frc4388/robot/subsystems/Drive.java
+1 -1
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@@ -83,7 +83,6 @@ public class Drive extends SubsystemBase {
m_leftBackMotor.setInverted(InvertType.FollowMaster);
m_rightBackMotor.setInverted(InvertType.FollowMaster);
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
m_rightFrontMotor.config_kF(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kP(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
@@ -239,6 +238,7 @@ public class Drive extends SubsystemBase {
SmartDashboard.putNumber("Right Motor Velocity Raw", m_rightFrontMotor.getSelectedSensorVelocity());
SmartDashboard.putNumber("Left Motor Position Raw", m_leftFrontMotor.getSelectedSensorPosition());
SmartDashboard.putNumber("Right Motor Position Raw", m_rightFrontMotor.getSelectedSensorPosition(0));
SmartDashboard.putNumber("Right Motor Velocity Int Sensor", m_rightFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
SmartDashboard.putNumber("Left Motor Velocity Int Sensor", m_leftFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
src/main/java/frc4388/robot/subsystems/Shooter.java
+90
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@@ -0,0 +1,90 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package frc4388.robot.subsystems;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Gains;
import frc4388.robot.Constants.DriveConstants;
import frc4388.robot.Constants.ShooterConstants;
public class Shooter extends SubsystemBase {
public WPI_TalonFX m_shooterFalcon = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_ID);
public static Gains m_shooterGains = ShooterConstants.SHOOTER_GAINS;
double velP;
/**
* Creates a new Shooter subsystem.
*/
public Shooter() {
m_shooterFalcon.configFactoryDefault();
m_shooterFalcon.setNeutralMode(NeutralMode.Coast);
m_shooterFalcon.setInverted(true);
setShooterGains();
m_shooterFalcon.configPeakOutputReverse(0, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalcon.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS);
int closedLoopTimeMs = 1;
m_shooterFalcon.configClosedLoopPeriod(0, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalcon.configClosedLoopPeriod(1, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS);
}
@Override
public void periodic() {
// This method will be called once per scheduler run
SmartDashboard.putNumber("Shooter Velocity", m_shooterFalcon.getSelectedSensorVelocity()*600/ShooterConstants.ENCODER_TICKS_PER_REV);
}
/**
* Runs drum shooter motor.
* @param speed Speed to set the motor at
*/
public void runDrumShooter(double speed) {
m_shooterFalcon.set(speed);
}
/**
* Configures gains for shooter PID.
*/
public void setShooterGains() {
m_shooterFalcon.selectProfileSlot(ShooterConstants.SHOOTER_SLOT_IDX, ShooterConstants.SHOOTER_PID_LOOP_IDX);
m_shooterFalcon.config_kF(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.m_kF, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalcon.config_kP(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.m_kP, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalcon.config_kI(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.m_kI, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalcon.config_kD(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.m_kD, ShooterConstants.SHOOTER_TIMEOUT_MS);
}
/**
* Runs drum shooter velocity PID.
* @param falcon Motor to use
* @param targetVel Target velocity to run motor at
*/
public void runDrumShooterVelocityPID(double targetVel, double actualVel) {
velP = actualVel/targetVel; //Percent of target
double runSpeed = actualVel + (12000*velP); //Ramp up equation
//if (runSpeed > targetVel) {runSpeed = targetVel;}
SmartDashboard.putNumber("shoot", actualVel);
runSpeed = runSpeed/targetVel; //Convert to percent
if (actualVel < targetVel - 1000){ //PID Based on ramp up amount
m_shooterFalcon.set(TalonFXControlMode.PercentOutput, runSpeed);
}
else{ //PID Based on targetVel
m_shooterFalcon.set(TalonFXControlMode.Velocity, targetVel); //Init PID
}
}
}