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Shooter pid work in progress #24

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merged 5 commits into from
Jan 31, 2024
Merged

Shooter pid work in progress #24

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5cfe694
Bringup of shooter/intake
BrownGenius Jan 27, 2024
cc7f389
Merge branch 'main' into intakeShooterSwBringup
BrownGenius Jan 27, 2024
9160c53
shooter pid work in progress
loafdog Jan 30, 2024
fe9abb0
Merge branch 'main' of https://github.com/DevilBotz2876/Crescendo2024…
BrownGenius Jan 30, 2024
9580101
Address some review comments
loafdog Jan 31, 2024
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3 changes: 2 additions & 1 deletion src/main/java/frc/robot/subsystems/shooter/Shooter.java
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Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,8 @@ public default void enable() {}
*/
public default void runVoltage(double volts) {}

public default void runVelocity(double setPoint) {}
/** Run closed loop at the specified velocity */
public default void runVelocity(double velocityRPM) {}
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public double getCurrentSpeed();

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3 changes: 2 additions & 1 deletion src/main/java/frc/robot/subsystems/shooter/ShooterIO.java
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Expand Up @@ -18,7 +18,8 @@ public default void updateInputs(ShooterIOInputs inputs) {}
/** Run open loop at the specified voltage. */
public default void setVoltage(double volts) {}

public default void setVelocity(double setPoint, double ff) {}
/** Run closed loop at the specified velocity */
public default void setVelocity(double velocityRadPerSec, double ffVolts) {}

public default void stop() {}
}
32 changes: 26 additions & 6 deletions src/main/java/frc/robot/subsystems/shooter/ShooterIOSparkMax.java
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@
import com.revrobotics.CANSparkMax;
import com.revrobotics.RelativeEncoder;
import com.revrobotics.SparkPIDController;
import com.revrobotics.SparkPIDController.ArbFFUnits;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;

Expand All @@ -14,9 +15,13 @@ public class ShooterIOSparkMax implements ShooterIO {
// define the 2 SparkMax Controllers. A top, and a bottom
private final CANSparkMax top = new CANSparkMax(2, MotorType.kBrushless);
private final CANSparkMax bottom = new CANSparkMax(1, MotorType.kBrushless);

private SparkPIDController topPid = top.getPIDController();
private SparkPIDController bottomPid = bottom.getPIDController();

public double tkP, tkI, tkD, tkIz, tkFF, tkMaxOutput, tkMinOutput, tmaxRPS;

// TODO: probably remove bottom since shooter will have one motor, not two independent motors
public double bkP, bkI, bkD, bkIz, bkFF, bkMaxOutput, bkMinOutput, bmaxRPS;

// Gets the NEO encoder
Expand All @@ -34,6 +39,8 @@ public ShooterIOSparkMax() {

top.burnFlash();

// TODO: these values are samples picked from REV example PID code. Need to tune PID and choose
// real values.
tkP = 6e-5;
tkI = 0;
tkD = 0;
Expand All @@ -43,6 +50,7 @@ public ShooterIOSparkMax() {
tkMinOutput = -1;
tmaxRPS = 300;

// TODO: probably remove bottom since shooter will have one motor, not two independent motors
bkP = 6e-5;
bkI = 0;
bkD = 0;
Expand All @@ -59,6 +67,7 @@ public ShooterIOSparkMax() {
topPid.setFF(tkFF);
topPid.setOutputRange(tkMinOutput, tkMaxOutput);

// TODO: probably remove bottom since shooter will have one motor, not two independent motors
bottomPid.setP(bkP);
bottomPid.setI(bkI);
bottomPid.setD(bkD);
Expand All @@ -74,6 +83,8 @@ public ShooterIOSparkMax() {
SmartDashboard.putNumber("Shooter/top/Max Output", tkMaxOutput);
SmartDashboard.putNumber("Shooter/top/Min Output", tkMinOutput);

// TODO: probably remove this since shooter will have one motor, not two independent motors
//
// SmartDashboard.putNumber("Shooter/bot/P Gain", bkP);
// SmartDashboard.putNumber("Shooter/bot/I Gain", bkI);
// SmartDashboard.putNumber("Shooter/bot/D Gain", bkD);
Expand Down Expand Up @@ -111,6 +122,8 @@ public void updateInputs(ShooterIOInputs inputs) {
double tmax = SmartDashboard.getNumber("Shooter/top/Max Output", 0);
double tmin = SmartDashboard.getNumber("Shooter/top/Min Output", 0);

// TODO: probably remove this since shooter will have one motor, not two independent motors
//
// double bp = SmartDashboard.getNumber("Shooter/bot/P Gain", 0);
// double bi = SmartDashboard.getNumber("Shooter/bot/I Gain", 0);
// double bd = SmartDashboard.getNumber("Shooter/bot/D Gain", 0);
Expand Down Expand Up @@ -145,6 +158,8 @@ public void updateInputs(ShooterIOInputs inputs) {
tkMaxOutput = tmax;
}

// TODO: probably remove bottom since shooter will have one motor, not two independent motors
//
// if ((bp != bkP)) {
// bottomPid.setP(bp);
// bkP = bp;
Expand Down Expand Up @@ -173,16 +188,21 @@ public void updateInputs(ShooterIOInputs inputs) {
}

@Override
public void setVelocity(double setPoint, double ff) {
// topPid.setReference(setPoint, CANSparkMax.ControlType.kVelocity);
public void setVelocity(double velocityRadPerSec, double ffVolts) {

topPid.setReference(
Units.radiansPerSecondToRotationsPerMinute(setPoint) * GEAR_RATIO,
CANSparkMax.ControlType.kVelocity);
SmartDashboard.putNumber("Shooter/top/SetPoint", setPoint);
Units.radiansPerSecondToRotationsPerMinute(velocityRadPerSec) * GEAR_RATIO,
CANSparkMax.ControlType.kVelocity,
0,
ffVolts,
ArbFFUnits.kVoltage);

SmartDashboard.putNumber("Shooter/top/velocityRadPerSec", velocityRadPerSec);
SmartDashboard.putNumber("Shooter/top/ProcessVariable", topEncoder.getVelocity());

// TODO: probably remove bottom since shooter will have one motor, not two independent motors
//
// bottomPid.setReference(setPoint, CANSparkMax.ControlType.kVelocity);

// SmartDashboard.putNumber("Shooter/bot/SetPoint", setPoint);
// SmartDashboard.putNumber("Shooter/bot/ProcessVariable", bottomEncoder.getVelocity());
}
Expand Down
14 changes: 7 additions & 7 deletions src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java
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Expand Up @@ -12,14 +12,14 @@ public class ShooterSubsystem extends SubsystemBase implements Shooter {
private final SimpleMotorFeedforward ffModel;
private final ShooterIOInputsAutoLogged inputs = new ShooterIOInputsAutoLogged();
@AutoLogOutput private double voltage;
@AutoLogOutput private double setPoint;
@AutoLogOutput private double velocityRPM;

public ShooterSubsystem(ShooterIO io) {
this.io = io;
// TODO: need to run sysid on shooter and get these values.
// TODO: These are sample values. Need to run sysid on shooter and get real values.
ffModel = new SimpleMotorFeedforward(0.1, 0.05);
voltage = 0;
setPoint = 0;
velocityRPM = 0.0;
}

@Override
Expand All @@ -41,11 +41,11 @@ public void runVoltage(double volts) {
}

@Override
public void runVelocity(double setPoint) {
this.setPoint = setPoint;
var velocityRadPerSec = Units.rotationsPerMinuteToRadiansPerSecond(setPoint);
public void runVelocity(double velocityRPM) {
this.velocityRPM = velocityRPM;
var velocityRadPerSec = Units.rotationsPerMinuteToRadiansPerSecond(velocityRPM);

io.setVelocity(setPoint, ffModel.calculate(velocityRadPerSec));
io.setVelocity(velocityRadPerSec, ffModel.calculate(velocityRadPerSec));
}

@Override
Expand Down