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Merge pull request #7 from Twinters007/MotionMagic
Add Motion Magic example. Update sim files to include params
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,24 @@ | ||
| from wpilib import SmartDashboard | ||
| import ctre | ||
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| class Instrum(): | ||
| loops = 0 | ||
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| @staticmethod | ||
| def process(tal, sb): | ||
| # Smart dash plots | ||
| SmartDashboard.putNumber('RPM', tal.getSpeed()) | ||
| SmartDashboard.putNumber('Pos', tal.getPosition()) | ||
| SmartDashboard.putNumber('AppliedThrottle', (tal.getOutputVoltage() / tal.getBusVoltage()) * 1023) | ||
| SmartDashboard.putNumber('ClosedLoopError', tal.getClosedLoopError()) | ||
| if tal.getControlMode() is ctre.CANTalon.ControlMode.MotionMagic: | ||
| #These API calls will be added in our next release. | ||
| #SmartDashboard.putNumber("ActTrajVelocity", tal.getMotionMagicActTrajVelocity()); | ||
| # SmartDashboard.putNumber("ActTrajPosition", tal.getMotionMagicActTrajPosition()); | ||
| pass | ||
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| # Periodically print to console | ||
| if Instrum.loops >= 10: | ||
| print(sb) | ||
| Instrum.loops = 0 |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,73 @@ | ||
| """ | ||
| Example demonstrating the motion magic control mode. | ||
| Tested with Logitech F710 USB Gamepad inserted into Driver Station. | ||
| Be sure to select the correct feedback sensor using SetFeedbackDevice() below. | ||
| After deploying/debugging this to your RIO, first use the left Y-stick | ||
| to throttle the Talon manually. This will confirm your hardware setup/sensors | ||
| and will allow you to take initial measurements. | ||
| Be sure to confirm that when the Talon is driving forward (green) the | ||
| position sensor is moving in a positive direction. If this is not the | ||
| cause, flip the boolean input to the reverseSensor() call below. | ||
| Once you've ensured your feedback device is in-phase with the motor, | ||
| and followed the walk-through in the Talon SRX Software Reference Manual, | ||
| use button1 to motion-magic servo to target position specified by the gamepad stick. | ||
| """ | ||
| import wpilib | ||
| import ctre | ||
| from examples.CANTalon_MotionMagic.instrum import Instrum | ||
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| class MyRobot(wpilib.IterativeRobot): | ||
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| def robotInit(self): | ||
| self.talon = ctre.CANTalon(3) | ||
| self.joystick = wpilib.Joystick(0) | ||
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| self.talon.setFeedbackDevice(ctre.CANTalon.FeedbackDevice.CtreMagEncoder_Relative) | ||
| # self.talon.configEncoderCodesPerRev(XXX), if using FeedbackDevice.QuadEncoder | ||
| # self.talon.configPotentiometerTurns(XXX), if using FeedbackDevice.AnalogEncoder or AnalogPot | ||
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| # Set the peak nominal outputs. 12V means full | ||
| self.talon.configNominalOutputVoltage(+0.0, -0.0) | ||
| self.talon.configPeakOutputVoltage(12.0, -12.0) | ||
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| # Set closed loop gains in slot0 - see documentation | ||
| self.talon.setProfile(0) | ||
| self.talon.setPID(0, 0, 0, 0) # P,I,D,F = 0 | ||
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| # Set acceleration and vcruise velocity - see documentation | ||
| self.talon.setMotionMagicCruiseVelocity(0) | ||
| self.talon.setMotionMagicAcceleration(0) | ||
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| def teleopPeriodic(self): | ||
| # Get gamepad axis - forward stick is positive | ||
| leftYstick = -1 * self.joystick.getAxis(wpilib.Joystick.AxisType.kY) | ||
| # Calculate the percent motor output | ||
| motor_output = self.talon.getOutputVoltage() / self.talon.getBusVoltage() | ||
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| # Prepare line to print | ||
| sb = '\tout:{}\tspd:{}'.format(motor_output, self.talon.getSpeed()) | ||
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| if self.joystick.getRawButton(1): | ||
| targetPos = leftYstick * 10 # 10 rotations in either direction | ||
| self.talon.changeControlMode(ctre.CANTalon.ControlMode.MotionMagic) | ||
| self.talon.set(targetPos) | ||
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| # Append more lines to print | ||
| sb += '\terr:{}\ttrg{}'.format(self.talon.getClosedLoopError(), targetPos) | ||
| else: | ||
| # Percent voltage mode | ||
| self.talon.changeControlMode(ctre.CANTalon.ControlMode.PercentVbus) | ||
| self.talon.set(leftYstick) | ||
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| # Instrumentation | ||
| Instrum.process(self.talon, sb) | ||
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| sb = '' | ||
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| if __name__ == '__main__': | ||
| wpilib.run(MyRobot) |