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PID input/output ranges and un-overriding all of kate's stuff#52
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lhmcgann merged 3 commits intoDeepBlueRobotics:masterfrom Feb 3, 2018
Merged
PID input/output ranges and un-overriding all of kate's stuff#52lhmcgann merged 3 commits intoDeepBlueRobotics:masterfrom
lhmcgann merged 3 commits intoDeepBlueRobotics:masterfrom
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set proper kF constants for move and turn PIDs as well fixed inputRange and outputRange for each PID controller (move, turn, leftV, rightV) setMaxOutput of robotDrive to the robot's max speed (in inches)
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brettle
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Feb 2, 2018
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Looks good to me. Also builds passes unit tests on my machine.
implementation - RobotMap: set both VelocityPIDControllers' input ranges to +- Max High Speed, output ranges are +-1, and initial kF constants based on Max Low Speed (for more accuracy in Auto); set max output of robotDrive to Max High Speed - DT/DTInterface: new method getCurrentMaxSpeed() returns max speed based on if robot is in high or low gear; new method resetVelocityPIDkFConsts() that resets kF constants of both VPIDs based on return of getCurrentMaxSpeed and returns new kF value; updated method updatePidConstants() to call resetVelocityPIDkFConsts() instead of just passing in 1/Max Speed - PIDMove/Turn commands: when determining kF values for move/turn PIDs, called getCurrentMaxSpeed() instead of SD value Max Speed; set moveController input range to +- Max High Speed - ShiftHigh/LowGear commands: called resetVelocityPIDkFConsts() after SD value reset - NOTE: all Max Speeds should be in inches/per!!!
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@brettle a few more changes based on our previous conversations about PID input/output ranges and kF values |
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all of PID stuff still needs to be tested thouroughly |
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