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Tune PID Turn and made associated changes. #74

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brettle merged 1 commit into from
Feb 18, 2018
Merged

Tune PID Turn and made associated changes. #74

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2 changes: 1 addition & 1 deletion Robot2018/lib/User_Libraries.properties
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@@ -1,2 +1,2 @@
#Sun Feb 18 11:01:27 PST 2018
#Sun Feb 18 15:40:25 PST 2018
C\:\\Users\\dean\\git\\RobotCode2018\\Robot2018\\lib\\libpathfinderjava.so=4087ee38c338446b8305f67716260df4
36 changes: 17 additions & 19 deletions Robot2018/src/org/usfirst/frc/team199/Robot2018/OI.java
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Expand Up @@ -7,14 +7,8 @@

package org.usfirst.frc.team199.Robot2018;

import org.usfirst.frc.team199.Robot2018.commands.CloseIntake;
import org.usfirst.frc.team199.Robot2018.commands.IntakeCube;
import org.usfirst.frc.team199.Robot2018.commands.LowerIntake;
import org.usfirst.frc.team199.Robot2018.commands.OpenIntake;
import org.usfirst.frc.team199.Robot2018.commands.OutakeCube;
import org.usfirst.frc.team199.Robot2018.commands.PIDMove;
import org.usfirst.frc.team199.Robot2018.commands.PIDTurn;
import org.usfirst.frc.team199.Robot2018.commands.RaiseIntake;
import org.usfirst.frc.team199.Robot2018.commands.ResetEncoders;
import org.usfirst.frc.team199.Robot2018.commands.RunLift;
import org.usfirst.frc.team199.Robot2018.commands.SetDistancePerPulse;
Expand Down Expand Up @@ -92,18 +86,22 @@ public OI() {
MoveLiftUpButton.whileHeld(new RunLift(Robot.lift, true));
MoveLiftDownButton.whileHeld(new RunLift(Robot.lift, false));

manipulator = new Joystick(2);
closeIntake = new JoystickButton(manipulator, getButton("Close Intake Button", 1));
closeIntake.whenPressed(new CloseIntake());
openIntake = new JoystickButton(manipulator, getButton("Open Intake Button", 2));
openIntake.whenPressed(new OpenIntake());
raiseIntake = new JoystickButton(manipulator, getButton("Raise Intake Button", 3));
raiseIntake.whenPressed(new RaiseIntake());
lowerIntake = new JoystickButton(manipulator, getButton("Lower Intake Button", 4));
lowerIntake.whenPressed(new LowerIntake());
intake = new JoystickButton(manipulator, getButton("Intake Button", 5));
intake.whenPressed(new IntakeCube());
outake = new JoystickButton(manipulator, getButton("Outake Button", 6));
outake.whenPressed(new OutakeCube());
// manipulator = new Joystick(2);
// closeIntake = new JoystickButton(manipulator, getButton("Close Intake
// Button", 1));
// closeIntake.whenPressed(new CloseIntake());
// openIntake = new JoystickButton(manipulator, getButton("Open Intake Button",
// 2));
// openIntake.whenPressed(new OpenIntake());
// raiseIntake = new JoystickButton(manipulator, getButton("Raise Intake
// Button", 3));
// raiseIntake.whenPressed(new RaiseIntake());
// lowerIntake = new JoystickButton(manipulator, getButton("Lower Intake
// Button", 4));
// lowerIntake.whenPressed(new LowerIntake());
// intake = new JoystickButton(manipulator, getButton("Intake Button", 5));
// intake.whenPressed(new IntakeCube());
// outake = new JoystickButton(manipulator, getButton("Outake Button", 6));
// outake.whenPressed(new OutakeCube());
}
}
2 changes: 1 addition & 1 deletion Robot2018/src/org/usfirst/frc/team199/Robot2018/Robot.java
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Expand Up @@ -212,7 +212,7 @@ public void teleopPeriodic() {
// SmartDashboard.putNumber("Right Enc Dist", dt.getRightDist());
// SmartDashboard.putNumber("Avg Enc Dist", dt.getEncAvgDist());
//
// SmartDashboard.putNumber("Angle", dt.getAHRSAngle());
SmartDashboard.putNumber("Angle", dt.getAHRSAngle());
}

boolean firstTime = true;
Expand Down
3 changes: 1 addition & 2 deletions Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/PIDMove.java
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Expand Up @@ -46,6 +46,7 @@ public PIDMove(double targ, DrivetrainInterface dt, SmartDashboardInterface sd,
double kf = 1 / (dt.getCurrentMaxSpeed() * sd.getConst("Default PID Update Time", 0.05));
moveController = new PIDController(sd.getConst("MovekP", 0.1), sd.getConst("MovekI", 0),
sd.getConst("MovekD", 0), kf, avg, this);
SmartDashboard.putData("Move PID", moveController);
}

/**
Expand All @@ -64,8 +65,6 @@ public void initialize() {
moveController.setAbsoluteTolerance(Robot.getConst("MoveTolerance", 0.1));
moveController.setSetpoint(Robot.getConst("Move Targ", 24));

SmartDashboard.putData("Move PID", moveController);

moveController.enable();
// dt.enableVelocityPIDs();
}
Expand Down
9 changes: 4 additions & 5 deletions Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/PIDTurn.java
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Expand Up @@ -58,6 +58,7 @@ public PIDTurn(double targ, DrivetrainInterface dt, SmartDashboardInterface sd,
turnController = new PIDController(sd.getConst("TurnkP", 1), sd.getConst("TurnkI", 0), sd.getConst("TurnkD", 0),
kf, ahrs, this);
// tim = new Timer();
SmartDashboard.putData("Turn PID", turnController);
}

/**
Expand All @@ -69,23 +70,21 @@ protected void initialize() {
turnController.disable();
// dt.enableVelocityPIDs();
System.out.println("initialize2s");
dt.resetAHRS();
// dt.resetAHRS();
System.out.println("after reset");
System.out.println("after disabling");
// input is in degrees
turnController.setInputRange(-180, 180);
// output in "motor units" (arcade and tank only accept values [-1, 1]
turnController.setOutputRange(-1.0, 1.0);
turnController.setOutputRange(Robot.getConst("Output", 0.5) * -1, Robot.getConst("Output", 0.5));
turnController.setContinuous(true);
turnController.setAbsoluteTolerance(Robot.getConst("TurnTolerance", 1));
double newSetPoint = Robot.getConst("Turn Targ", 90);
double newSetPoint = Robot.getConst("Turn Targ", 90) + dt.getAHRSAngle();
while (Math.abs(newSetPoint) > 180) {
newSetPoint = newSetPoint - Math.signum(newSetPoint) * 360;
}
turnController.setSetpoint(newSetPoint);

SmartDashboard.putData("Turn PID", turnController);

turnController.enable();
System.out.println("initialize finished");
// tim.start();
Expand Down
93 changes: 13 additions & 80 deletions shuffleboard.json
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
{
"dividerPosition": 0.2218100890207715,
"dividerPosition": 0.45185185185185184,
"tabPane": [
{
"title": "PID Testing",
Expand Down Expand Up @@ -41,9 +41,8 @@
"content": {
"_type": "Graph",
"_source0": "network_table:///SmartDashboard/Left Enc Rate",
"_title": "SmartDashboard/Left Enc Rate",
"Visible time": 30.0,
"SmartDashboard/Left Enc Rate visible": true
"_title": "/SmartDashboard/Left Enc Rate",
"Visible time": 30.0
}
},
"5,2": {
Expand All @@ -65,9 +64,8 @@
"content": {
"_type": "Graph",
"_source0": "network_table:///SmartDashboard/Right Enc Rate",
"_title": "SmartDashboard/Right Enc Rate",
"Visible time": 30.0,
"SmartDashboard/Right Enc Rate visible": true
"_title": "/SmartDashboard/Right Enc Rate",
"Visible time": 30.0
}
},
"5,3": {
Expand Down Expand Up @@ -242,17 +240,6 @@
"colorWhenTrue": "#7CFC00FF",
"colorWhenFalse": "#8B0000FF"
}
},
"2,1": {
"size": [
2,
1
],
"content": {
"_type": "Text View",
"_source0": "network_table:///SmartDashboard/Const/DPP",
"_title": "SmartDashboard/Const/DPP"
}
}
}
}
Expand Down Expand Up @@ -297,9 +284,8 @@
"content": {
"_type": "Graph",
"_source0": "network_table:///SmartDashboard/Right Enc Dist",
"_title": "SmartDashboard/Right Enc Dist",
"Visible time": 10.0,
"SmartDashboard/Right Enc Dist visible": true
"_title": "/SmartDashboard/Right Enc Dist",
"Visible time": 10.0
}
},
"1,0": {
Expand All @@ -310,14 +296,13 @@
"content": {
"_type": "Graph",
"_source0": "network_table:///SmartDashboard/Left Enc Dist",
"_title": "SmartDashboard/Left Enc Dist",
"Visible time": 10.0,
"SmartDashboard/Left Enc Dist visible": true
"_title": "/SmartDashboard/Left Enc Dist",
"Visible time": 10.0
}
},
"5,0": {
"size": [
2,
1,
1
],
"content": {
Expand Down Expand Up @@ -431,7 +416,7 @@
"hgap": 16.0,
"vgap": 16.0,
"tiles": {
"5,0": {
"1,0": {
"size": [
2,
1
Expand Down Expand Up @@ -475,7 +460,7 @@
"_title": "SmartDashboard/Turn PID Result"
}
},
"5,1": {
"2,1": {
"size": [
1,
1
Expand Down Expand Up @@ -519,32 +504,6 @@
"_title": "SmartDashboard/Right VPID Error"
}
},
"3,2": {
"size": [
2,
2
],
"content": {
"_type": "Graph",
"_source0": "network_table:///SmartDashboard/Drivetrain/Left VPID Targ",
"_title": "SmartDashboard/Drivetrain/Left VPID Targ",
"Visible time": 30.0,
"SmartDashboard/Drivetrain/Left VPID Targ visible": true
}
},
"5,2": {
"size": [
2,
2
],
"content": {
"_type": "Graph",
"_source0": "network_table:///SmartDashboard/Drivetrain/Right VPID Targ",
"_title": "SmartDashboard/Drivetrain/Right VPID Targ",
"Visible time": 30.0,
"SmartDashboard/Drivetrain/Right VPID Targ visible": true
}
},
"0,2": {
"size": [
1,
Expand All @@ -556,7 +515,7 @@
"_title": "SmartDashboard/Const/Turn Targ"
}
},
"6,1": {
"1,1": {
"size": [
1,
1
Expand All @@ -566,32 +525,6 @@
"_source0": "network_table:///SmartDashboard/Const/TurnTolerance",
"_title": "SmartDashboard/Const/TurnTolerance"
}
},
"3,0": {
"size": [
2,
2
],
"content": {
"_type": "Graph",
"_source0": "network_table:///SmartDashboard/Drivetrain/Right Enc Dist",
"_title": "SmartDashboard/Drivetrain/Right Enc Dist",
"Visible time": 30.0,
"SmartDashboard/Drivetrain/Right Enc Dist visible": true
}
},
"1,0": {
"size": [
2,
2
],
"content": {
"_type": "Graph",
"_source0": "network_table:///SmartDashboard/Drivetrain/Left Enc Dist",
"_title": "SmartDashboard/Drivetrain/Left Enc Dist",
"Visible time": 30.0,
"SmartDashboard/Drivetrain/Left Enc Dist visible": true
}
}
}
}
Expand Down