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switched drive to CANPIDController #34

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switched drive to CANPIDController #34

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299d2ac
switched drive to CANPIDController
May 15, 2021
abab223
getPIDController not drivePIDController
May 15, 2021
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2 changes: 1 addition & 1 deletion lib199
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Submodule lib199 updated 1 files
+1 −1 src/main/java/frc/robot/lib/Limelight.java
25 changes: 11 additions & 14 deletions src/main/java/org/team199/robot2021/SwerveModule.java
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,8 @@

import com.ctre.phoenix.sensors.AbsoluteSensorRange;
import com.ctre.phoenix.sensors.CANCoder;
import com.revrobotics.ControlType;
import com.revrobotics.CANPIDController;
import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMax.IdleMode;

Expand All @@ -30,7 +32,7 @@ public enum ModuleType {FL, FR, BL, BR};
private String moduleString;
private CANSparkMax drive, turn;
private CANCoder turnEncoder;
private PIDController drivePIDController;
private CANPIDController drivePIDController;
private ProfiledPIDController turnPIDController;
private TrapezoidProfile.Constraints turnConstraints;
private double driveModifier, maxSpeed, turnZero;
Expand Down Expand Up @@ -86,9 +88,12 @@ public SwerveModule(ModuleType type, CANSparkMax drive, CANSparkMax turn, CANCod
Constants.DriveConstants.kBackwardVels[arrIndex],
Constants.DriveConstants.kBackwardAccels[arrIndex]);

drivePIDController = new PIDController(2 * Constants.DriveConstants.drivekP[arrIndex],
Constants.DriveConstants.drivekI[arrIndex],
Constants.DriveConstants.drivekD[arrIndex]);
drivePIDController = drive.getPIDController();

drivePIDController.setP(Constants.DriveConstants.drivekP[arrIndex]);
drivePIDController.setI(Constants.DriveConstants.drivekI[arrIndex]);
drivePIDController.setD(Constants.DriveConstants.drivekD[arrIndex]);
drivePIDController.setOutputRange(-1, 1);


//System.out.println("Velocity Constant: " + (positionConstant / 60));
Expand Down Expand Up @@ -194,17 +199,9 @@ private void setSpeed(double speed) {

// Compute desired and actual speeds in m/s
double desiredSpeed = maxSpeed * speed * driveModifier;
double actualSpeed = getCurrentSpeed();
SmartDashboard.putNumber(moduleString + " Desired Speed (mps)", desiredSpeed);
SmartDashboard.putNumber(moduleString + " Actual Speed (mps)", actualSpeed);
double targetVoltage = (actualSpeed >= 0 ? forwardSimpleMotorFF :
backwardSimpleMotorFF).calculate(desiredSpeed, calculateAntiGravitationalA(pitchDegSupplier.get(), rollDegSupplier.get()));//clippedAcceleration);

// Use robot characterization as a simple physical model to account for internal resistance, frcition, etc.
// Add a PID adjustment for error correction (also "drives" the actual speed to the desired speed)
targetVoltage += drivePIDController.calculate(actualSpeed, desiredSpeed);
double appliedVoltage = MathUtil.clamp(targetVoltage / 12, -1, 1);
drive.set(appliedVoltage);

drivePIDController.setReference(desiredSpeed, ControlType.kVelocity);
}

/**
Expand Down